Control and perception system for ReMeDi robot mobile platform

The paper presents a design of a control system of a mobile platform for a ReMeDi robotic system — a system for remote diagnosis with ultrasonography and palpation. The platform described in the paper is a first prototype of the mobile base for the system meant for evaluation of technical and user-defined requirements. We present the design of the platform, its control architecture and results of laboratory tests of platform localization methods and experiments how users perceive the robot made in a hospital.