TY - GEN
T1 - Mobile robot manipulation system with a reconfigurable robotic arm
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
AU - Kang, Peng
AU - Han, Liang
AU - Xu, Wenfu
AU - Wang, Peng
AU - Yang, Guo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Working in unknown environment has become a fundamental requirement of mobile robot manipulation system. This application scenarios require robots to have some basic capabilities, such as the fast and flexible locomotion, dexterous manipulation, and environmental interaction. However, most studies have only focus on just one of the aspects, which restricts the actual applications. This paper attempts to show a novel design of the mobile robot manipulation system with all above capabilities. The system consists of a mobile platform and a reconfigurable 7 degrees of freedom (DOF) robotic arm. The quadruped and wheeled locomotion is realized on the mobile platform. Different from traditional mobile robot manipulation system, a new type of reconfigurable connecting mechanism (RCM) is developed to realize the quick change the configurations and modules. Due to these designs, the system can adapt for different tasks. Besides, the hardware and software of the control system are introduced. Finally, the performances of the developed mobile robot manipulation system are validated by a series of experiments.
AB - Working in unknown environment has become a fundamental requirement of mobile robot manipulation system. This application scenarios require robots to have some basic capabilities, such as the fast and flexible locomotion, dexterous manipulation, and environmental interaction. However, most studies have only focus on just one of the aspects, which restricts the actual applications. This paper attempts to show a novel design of the mobile robot manipulation system with all above capabilities. The system consists of a mobile platform and a reconfigurable 7 degrees of freedom (DOF) robotic arm. The quadruped and wheeled locomotion is realized on the mobile platform. Different from traditional mobile robot manipulation system, a new type of reconfigurable connecting mechanism (RCM) is developed to realize the quick change the configurations and modules. Due to these designs, the system can adapt for different tasks. Besides, the hardware and software of the control system are introduced. Finally, the performances of the developed mobile robot manipulation system are validated by a series of experiments.
KW - Dexterous manipulation
KW - Hybrid mobile platform
KW - Mobile manipulation system
KW - Reconfigurable connecting mechanism
UR - https://www.scopus.com/pages/publications/85079049966
U2 - 10.1109/ROBIO49542.2019.8961389
DO - 10.1109/ROBIO49542.2019.8961389
M3 - 会议稿件
AN - SCOPUS:85079049966
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 2378
EP - 2383
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 6 December 2019 through 8 December 2019
ER -