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Scrabot is a service robot designed to place and maintain the conduits inside the duct within the timber slab.

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Scrabot (Service Controlling Regulation Automation Bot)

  • Scrabot is a service robot designed to place and maintain the conduits inside the duct within the timber slab. The robot is embedded with a depth camera to generate 3D point clouds. The 2D duct network will be defined in advance. The observed 3D Point clouds from the robot should be matched with the 2D maps. Then the localization algorithm is based on an observation model which down-projects the plane filtered points on to 2D and assigns correspondences for each point to lines in the 2D map.

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Duct Network in slabs

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Conduit-Service-Robot-Concept Design (Ongoing Project)

3D Design Tool:

  • Rhino 3D
  • Grasshopper 3D
  • Solidworks

Robot Framework:

  • ROS
  • Gazebo
  • Python

Hardware:

  • Kinect Sensor
  • DC Motor
  • Ultrasonic Sensor
  • Electro Magnet
  • Dynamixel Servo
  • L298N Motor Drive Board
  • Breakout Board MPU6050
  • Jetson Nano
  • Tiva C Launch Pad
  • Inertial Measurement Units(IMUs)

Robot Version 1


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Robot Version 2

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Timber Building and Duct Network

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Installation Process: Placing Conduits

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Maintenance Process: Replacing Conduits

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Fabrication & Assembly Process in Prefab & InSitu

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Scrabot is a service robot designed to place and maintain the conduits inside the duct within the timber slab.

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