Development of a New Hybrid Configuration Service Robot

Abstract

Service robot configurations are typically classified into Mobile-based Humanoid Robots (MHR) and Bipedal Humanoid Robots (BHR), each with distinct advantages and limitations. This paper introduces Ground-based Intelligent Navigating Operator (GINO). This new hybrid service robot integrates the strengths of both MHR and BHR by adding only three additional degrees of freedom (DoF) to a conventional MHR platform. GINO features a compact three-wheeled base for efficient flat-ground mobility and two human-like arms for object manipulation. By incorporating four additional actuators, these arms can be reconfigured as legs, enabling the robot to climb stairs, curbs, and similar obstacles in both indoor and outdoor environments. The design process began with conceptual and embodiment design phases aimed at meeting the robot’s operational goals across various settings, including homes, hospitals, supermarkets, and multi-storey buildings. The robot was modeled in SolidWorks, where stress analysis guided material selection. Five motion planning strategies were developed to address stair climbing for different stair dimensions. The concept was validated in simulation using Webots, followed by the fabrication of a scaled prototype. Experimental tests in real environments confirmed the effectiveness of the proposed hybrid design, demonstrating its versatility and stair-climbing capabilities.