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ICRA
1999
IEEE

A Mobile Manipulator

14 years 3 months ago
A Mobile Manipulator
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.
Matthew T. Mason, Dinesh K. Pai, Daniela Rus, Lee
Added 03 Aug 2010
Updated 03 Aug 2010
Type Conference
Year 1999
Where ICRA
Authors Matthew T. Mason, Dinesh K. Pai, Daniela Rus, Lee R. Taylor, Michael Erdmann
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