DocumentCode
339265
Title
A mobile manipulator
Author
Mason, Matthew T. ; Pai, Dinesh K. ; Rus, Daniela ; Taylor, Lee R. ; Erdmann, Michael A.
Author_Institution
Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
3
fYear
1999
fDate
1999
Firstpage
2322
Abstract
This paper describes a mobile manipulator that uses its wheels for manipulation as well as locomotion. This robot, named the mobipulator, looks like a small car with four independently powered wheels, none of them steered. It is designed to manipulate paper and other objects on the surface of a desk. The wheels are used for locomotion or for manipulation, switching functions dynamically as the task demands. So far we have preliminary demonstrations of a variety of motions, and performance data for the task of moving a sheet of paper in a square while maintaining constant orientation
Keywords
manipulator kinematics; materials handling; mobile robots; motion control; kinematics; locomotion; materials handling; mobile manipulator; mobipulator; motion control; Books; Cameras; Kinematics; Manipulator dynamics; Mobile robots; Read only memory; Robot sensing systems; Robot vision systems; Sensor systems; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770452
Filename
770452
Link To Document