Experimental validation of a hybrid mobile robot mechanism with interchangeable locomotion and manipulation

—This video submission presents the experimental validation and testing of a novel Hybrid Mobile Robot (HMR) system design using a complete physical prototype. The HMR consists of a combination of parallel and serially connected links resulting in a hybrid mechanism that consists of a locomotion platform and a manipulator arm for manipulation, both interchangeable functionally. The new design has the ability to interchangeably provide locomotion and manipulation capability, both simultaneously. This was accomplished by integrating the locomotion mechanism and the manipulator arm mechanism as one entity rather than two separate and attached mechanisms. The manipulator arm can be used as part of the locomotion platform and vice versa. The video demonstrates how this paradigm significantly enhances mobile robot functionality for locomotion and manipulation tasks.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Pinhas Ben-Tzvi
• Keywords: IROS 2009, Locomotion Platform, Manipulator Arm, Manipulator Arm Mechanism, Robotics