The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This report documents the preliminary design for a mobile manipulator system to service the Space Shuttle. This document arose from the Mobile Robot Design Course in the Spring of 1991 held at Carnegie Mellon's Robotics Institute. A wide number of issues are addressed including mechanical configuration and design, software and hardware architectures, sensing, power, planning, and a number of design process issues as well. Many comparisons and analyses are presented and much of this work helped formulate decisions and designs in the eventual robot system, and Tessellator.

Notes

Grant ID: H0358021

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Tessellator

Number of pages: 222

Text Reference

Kevin Dowling, "Tessellator Robot Design Document," tech. report CMU-RI-TR-95-43, Robotics Institute, Carnegie Mellon University, January, 1996

BibTeX Reference

@techreport{Dowling_1996_395,
   author = "Kevin Dowling",
   title = "Tessellator Robot Design Document",
   booktitle = "",
   institution = "Robotics Institute",
   month = "January",
   year = "1996",
   number= "CMU-RI-TR-95-43",
   address= "Pittsburgh, PA",
}

The Robotics Institute

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