Mobile robots have evolved beyond transportation to serve diverse research and industrial tasks. This work addresses the need for flexible robotic platforms by introducing MoMo, a modular mobile robot featuring a mecanum drive system and a modular electrical connector. The platform supports various research modules, such as actuators and sensors, enabling experiments across multiple use cases. MoMo, implemented in ROS 2, accommodates payloads up to 105 kg and offers a cost-efficient solution compared to commercial platforms. The purpose of this work is to document the design of the modular platform and its implementation, facilitating collaboration and knowledge exchange within the robotics community. Future developments include expanding the versatility of the platform through additional top modules like mobile manipulation systems, demonstrating adaptability and practicality across diverse research domains.
MoMo: An Open-Source Modular Mobile Robot Research Platform
2024
Conference paper
Electronic Resource
English
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