Markus Knitt
Research Associate
Institute of Logistics Engineering, Hamburg University of Technology
Manav Thakkar
Student
Institute of Logistics Engineering, Hamburg University of Technology
Yousef Elgohary
Student
Institute of Logistics Engineering, Hamburg University of Technology
Yevgen Blank
Other
Institute of Logistics Engineering, Hamburg University of Technology
Hendrik Rose
Principal Research Fellow
Institute of Logistics Engineering, Hamburg University of Technology
Philipp Braun
Principal Research Fellow
Institute of Logistics Engineering, Hamburg University of Technology
Research Associate
Institute of Logistics Engineering, Hamburg University of Technology
Manav Thakkar
Student
Institute of Logistics Engineering, Hamburg University of Technology
Yousef Elgohary
Student
Institute of Logistics Engineering, Hamburg University of Technology
Yevgen Blank
Other
Institute of Logistics Engineering, Hamburg University of Technology
Hendrik Rose
Principal Research Fellow
Institute of Logistics Engineering, Hamburg University of Technology
Philipp Braun
Principal Research Fellow
Institute of Logistics Engineering, Hamburg University of Technology
MoMo: An Open-Source Modular Mobile Robot Research Platform
Logistics and Intralogistics SystemsMobile robots initially served transportation and workstation functions. Recent applications span diverse research and industrial uses, such as robot-based picking, gas leakage detection, ergonomic load carrying, and book inventory management. These require flexible mobile platforms, which are often expensive and non-modular. This paper presents a guide for creating a cost-effective, modular robot for high payloads, named MoMo, with a mecanum drive system and modular connectors, controlled via ROS 2 Humble.
Our contributions include a systematic requirement analysis, design documentation, open-source assembly manuals, CAD models, ROS 2 software, and a detailed budget. This platform fosters knowledge exchange and collaboration by providing a versatile and customizable research tool. Future work will validate the concept through additional modules, such as mobile manipulation systems.
