VolksBot - A Construction Kit for Multi-Purpose Robot Prototyping

Abstract

In this chapter we have presented the a concept for application oriented prototyping of mobile robots. After defining design goals and deriving design criteria, we presented the mechanical, hardware and software components which followed these criteria and form the VolksBot construction kit. Then, variants of robot platforms for diverse applications were presented, including general platforms for indoor (VolksBot Indoor) and outdoor (VolksBot RT) use, a platform for high mobility applications (VolksBot XT), robots for participation in the Robocup Middle Size, Rescue and @Home league, a demonstrator for autonomous transportation (PeopleMover), an underwater variant (MarBot) and finally a fuel cell powered VolksBot (FuelBot). Having successfully designed and constructed this number of robots indicates the feasibility and effectiveness of our design approach. Future work will include a constant enhancement of the construction kit allowing for even more applications. This includes the development of a modular, steerable drive unit, the use of tracks instead of wheels and a redesign of the XT variant for even higher mobility and payload. In software the FAIRlib will be further developed, including reusable modules for indoor and outdoor localization and navigation and various functionality in the @Home domain.