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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This project is no longer active.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

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.

Name - Title <Email Address>
• [Home] Pradeep Khosla - Dean and Philip and Marsha Dowd Prof ECE, RI/ECE <pkk@ece.cmu.edu>
• [Home] Chris Paredis - Research Scientist, RI/ICES

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