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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This project is no longer active.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(s) / consortia:
 National Robotics Engineering Center (NREC)
Associated lab(s) / group(s):
 Advanced Mechatronics Lab
Overview
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.