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Reconfigurable Modular Manipulator System (RMMS) This project is no longer active. Head: Pradeep Khosla Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: VASC Associated lab/group: Advanced Mechatronics Lab

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Project Description

Robots are more flexible than task-specific hardware for automation. In theory, one can change a robot's task simply by loading a new program into the robot's controller. However, in practice, each robot has a configuration and sensing capabilities that support only the applications for which the system was designed.

The CMU Reconfigurable Modular Manipulator System (RMMS) addresses the problems associated with conventional fixed-configuration manipulators. The RMMS utilizes a stock of interchangeable joint (actuator) and link modules of different size and performance specifications. It extends the concept of modularity to include the control algorithms and task planning software.

Past members

	Name	Title	Email Address
	Pradeep Khosla	Dean and Philip and Marsha Dowd Prof ECE, RI/ECE	pkk@ece.cmu.edu
	Chris Paredis	Research Scientist, RI/ICES

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• A rapidly deployable manipulator system
  C. Paredis, H. Brown, and P. Khosla
  Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. 2, April, 1996, pp. 1434 - 1439. [Abstract]
  Download: pdf [892 KB] copyrighted

• CHIMERA: a real-time programming environment for manipulator control
  D.E. Schmitz, P. Khosla, R. Hoffman, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89),, Vol. 2, May, 1989, pp. 846 - 852. [Abstract]
  Download: pdf [567 KB] copyrighted

• Automatic generation of kinematics for a reconfigurable modular manipulator system
  L. Kelmar and P. Khosla
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '88), Vol. 2, April, 1988, pp. 663 - 668. [Abstract]
  Download: pdf [496 KB] copyrighted