Serving Innovation: Seamless Service by Advancing Food Runners with Mobile Manipulation
Sankalp Yamsani, Kevin Gim, Tyler Smithline, Richard Qiu, Roman Mineyev, Kenta Hirashima, Sungmin Kang, Kyungseo Park
Abstract
The Mobile Object Manipulation Operator (MOMO) is an innovative and reconfigurable robotic system that transforms traditional serving robots into mobile manipulators. Leveraging the form factor and mobility of serving robots, MOMO integrates up to three pluggable devices, including 6-DoF manipulators of varying sizes and a 3-DoF sensor head. Its design incorporates two independent shoulder lifts to enhance vertical reach. The adaptability of the system tailors its capabilities to tasks beyond simple object transportation. Opposed to current food delivery robots, MOMO showcases its ability to remove obstructions from the floor and deliver items to recipients without human intervention. This paper provides a comprehensive analysis of MOMO’s hardware and software components, emphasizing its modular design and adaptability for complex applications.