Background
The University of Twente currently hosts four KUKA iDo robots, powerful, modular robots used for research and education. One of them has been transformed into the iDo Improvotype, a teleoperated robot designed to support performative enactments in early-stage social robotics research, especially in healthcare contexts.
While the iDo platform is physically modular, it currently includes only one removable component (its head). To support more expressive and adaptable interactions, we want to expand this capability by designing and integrating new detachable modules, starting with a robotic arm.
The robotic arm (a Kinova unit) is already available, and the challenge is to integrate it mechanically, electronically, and via ROS-based control into the iDo system, making it swappable and easy to deploy in future experiments.
Problem Definition
How can we design and integrate detachable modules (starting with a robotic arm) into the KUKA iDo improvotype platform, in a way that supports versatile, reconfigurable, and performative use in healthcare robot prototyping?
Objectives
- Explore the design space of modular attachments for the iDo platform, focusing on performative and social use in healthcare research.
- Develop a detachable, fully functional robotic arm module, using existing hardware (Kinova arm).
- Integrate the arm into the iDo robot via ROS, adding any necessary interface hardware (e.g. microcontroller).
- Suggest concepts for other detachable modules (e.g. expressive tools, sensory units, feedback interfaces).
Expected Outcomes
- A working, plug-and-play arm module integrated into the iDo platform.
- A report outlining the design space of possible modules, including sketches or mockups for future development.
- Technical documentation of the system design and integration process (mechanical, software, and electrical).
Used Tools and technology
- Programming: Python, C/C++
- Frameworks: ROS, ROS2, micro-ROS
- Platforms: Ubuntu (PC), Raspberry Pi Pico or similar microcontrollers
- Hardware: Kinova robotic arm, IMU, LiDAR, Intel RealSense 3D camera
- Prototyping: 3D printing, mechanical design (with support from UT technical staff)