Natural calamities such as earthquakes, floods lead to frequent casualties. The two main effects are succumbing to the calamities themselves and the non-availability of aid during such events. For a timely supply of emergency aid, we propose a technology-driven solution with minimal or no human intervention, i.e. a robot designed to accomplish different tasks. Since these are rare events, during the off-calamity time the robot can be used for an Industrial environment. VIKRAM is a versatile robot that is equipped with a Model Predictive Controller to balance itself on two wheels to either move in an industrial warehouse or move on uneven terrain in case of disaster scenarios. To work in industrial warehouses and to aid medical assistance in disaster scenarios, it is mounted with a robotic arm that explores the capabilities of pick and place operation using advanced perception techniques. The VIKRAM robot can also autonomously navigate to its desired location either in an industrial environment using SLAM algorithms or disaster scenarios using an obstacle avoidance algorithm.
Our design started with setting up constraints in terms of the payload that it can carry and the mass of the payload. One of the important features of our robot is, usage of the basket whenever carrying the payload from one location to another which drastically reduces the power consumption in comparison to the method in which the robot is supposed to hold the payload all the time whenever it is navigating.
- VIKRAM robot in Industrial warehouse(ROS Gazebo) https://youtu.be/bnivLZTEkTg?list=PLCJLvf_Ga3LFS6RMgU82rBr8Yd99Vbt51
- VIKRAM robot in a Disaster Scenario(ROS Gazebo) https://youtu.be/bA3Fo9qZsBI?list=PLCJLvf_Ga3LFS6RMgU82rBr8Yd99Vbt51
- VIKRAM with payload https://youtu.be/mgOclu8zkHk?list=PLCJLvf_Ga3LFS6RMgU82rBr8Yd99Vbt51
- VIKRAM Model Predictive Controller https://youtu.be/BAM5CDEWCwI?list=PLCJLvf_Ga3LFS6RMgU82rBr8Yd99Vbt51
- VIKRAM Robotic Arm Manipulation https://youtu.be/79NCQto6nX4?list=PLCJLvf_Ga3LFS6RMgU82rBr8Yd99Vbt51
- VIKRAM solidworks simulation https://youtu.be/PGw3fngN8Kg?list=PLCJLvf_Ga3LFS6RMgU82rBr8Yd99Vbt51
- Turtlebot SLAM https://youtu.be/PRGqaiy1gTU?list=PLCJLvf_Ga3LFS6RMgU82rBr8Yd99Vbt51