A Mobile Manipulator
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2322 - 2327, May, 1999
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.
BibTeX
@conference{Mason-1999-14906,author = {Matthew T. Mason and Dinesh Pai and Daniela Rus and L. R. Taylor and Michael Erdmann},
title = {A Mobile Manipulator},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1999},
month = {May},
volume = {3},
pages = {2322 - 2327},
}
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