DocumentCode
695141
Title
Postural modes and control for dexterous mobile manipulation: the UMass uBot concept
Author
Ruiken, Dirk ; Lanighan, Michael W. ; Grupen, Roderic A.
Author_Institution
Sch. of Comput. Sci., Univ. of Massachusetts Amherst, Amherst, MA, USA
fYear
2013
fDate
15-17 Oct. 2013
Firstpage
280
Lastpage
285
Abstract
We present the UMass uBot concept for dexterous mobile manipulation. The uBot concept is built around Bernstein´s definition of dexterity-“the ability to solve a motor problem correctly, quickly, rationally, and resourcefully” [1]. We contend that dexterity in robotic platforms cannot arise from control alone and can only be achieved when the entire design of the robot affords resourceful behavior. uBot-6 is the latest robot in the uBot series whose design affords several postural configurations and mobility modes. We discuss these dexterous mobility options in detail and demonstrate the strength of dexterous mobility.
Keywords
dexterous manipulators; mobile robots; Bernstein definition of dexterity; UMass uBot concept; dexterous mobile manipulation; mobility modes; postural control; postural modes; robotic platforms; Elbow; Joints; Manipulators; Mobile robots; Shoulder; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots (Humanoids), 2013 13th IEEE-RAS International Conference on
Conference_Location
Atlanta, GA
ISSN
2164-0572
Print_ISBN
978-1-4799-2617-6
Type
conf
DOI
10.1109/HUMANOIDS.2013.7029988
Filename
7029988
Link To Document