Design and Development of Shadow: A Cost-Effective Mobile Social Robot for Human-Following Applications

Abstract

This study explores the development and implementation of Shadow, an advanced mobile social robot designed to meet specific functional requirements. Shadow is intended to serve both as a versatile tool and a human companion, assisting in various tasks across different environments. The construction emphasizes cost efficiency and high agility, utilizing 3D printing technology exclusively. The robot features omnidirectional kinematics and a flexible power electronics system, accommodating diverse energy needs with lithium batteries that ensure at least seven hours of autonomous operation. An integrated sensor array continuously monitors the power system, tracks tilt and acceleration, and facilitates self-diagnostic functions. Rapid prototyping allows for swift iteration, testing, and refinement to align with project goals. This paper provides a comprehensive blueprint for designing cost-effective, highly agile robots using advanced manufacturing techniques. Extensive testing, including stability and sensory skills evaluations, demonstrates Shadow’s adherence to its design objectives. Shadow has advanced from technology readiness level (TRL) 2 to TRL 7 within a year and is currently undergoing trials with advanced functionalities, offering significant insights into overcoming practical design challenges and optimizing robot functionality.