Mobile manipulation using tracks of a tracked mobile robot

14 years 5 months ago

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— This paper presents the investigation on mobile manipulation of a self-reconﬁgurable tracked mobile robot, using its tracks for both manipulation and locomotion. It is desirable for a mobile robot to possess manipulation capability in unstructured environments, especially in the scenario which is unsuitable for human beings. However, it is not convenient for such a mobile robot to carry an onboard manipulator and perform grasping and placing operations. An alternative is to realize the manipulation potential of the existing parts and perform manipulation without attaching additional hardware. Besides the enhanced locomotion ability, a self-reconﬁgurable tracked mobile robot has great potential in manipulation, which may take the forms of box-pushing, cylinder-moving or lateral hitting. However, the manipulation with tracks has to be controlled properly. One challenge is to optimize the tracks’ conﬁguration so as to get the optimal contact point. Furthermore, the speed and a...

Yugang Liu, Guangjun Liu

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