A Mobile Manipulator

Matthew T. Mason, Dinesh Pai, Daniela Rus, L. R. Taylor, and Michael Erdmann
IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2322 - 2327.


Download
  • Adobe portable document format (pdf) (77KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab

Text Reference
Matthew T. Mason, Dinesh Pai, Daniela Rus, L. R. Taylor, and Michael Erdmann, "A Mobile Manipulator," IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2322 - 2327.

BibTeX Reference
@inproceedings{Mason_1999_3079,
   author = "Matthew T. Mason and Dinesh Pai and Daniela Rus and L. R. Taylor and Michael Erdmann",
   title = "A Mobile Manipulator",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '99)",
   pages = "2322 - 2327",
   month = "May",
   year = "1999",
   volume = "3",
}