A Mobile Manipulator

Matthew T. Mason, Dinesh Pai, Daniela Rus, L. R. Taylor and Michael Erdmann
Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, pp. 2322 - 2327, May, 1999

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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.

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)},
year = {1999},
month = {May},
volume = {3},
pages = {2322 - 2327},
} 2017-09-13T10:48:56-04:00