  Healthcare poses diverse logistic requirements, which resulted in the
deployment of several distinctly designed robots within a hospital setting.
Each robot comes with its overheads in the form of, namely, none/limited
scaling, dedicated charging stations, programming interface, closed
architecture, training requirements, etc. This paper reports on developing a
reconfigurable logistic robot named WaspL. The design of WaspL caters to the
requirement of high mobility, open robotic operating system architecture,
multi-functionality, and evolvability features. It fulfills multiple logistics
modes, like towing, lifting heavy payloads, forklifting low ground clearance
objects, nesting of two WaspL} etc., fulfilling different applications required
in hospital settings. The design requirements, mechanical layout, and system
architecture are discussed in detail. The finite element modeling,
attribute-based comparison with other standard robots, are presented along with
experimental results supporting the WaspL design capabilities.
