18 February 2002 Synergy in the design of mobile manipulation
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Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457444
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
Abstract
As our robots develop greater range, autonomy, and sensor payloads, the desire to more fully interact with the environment has led researchers to the obvious integration of manipulators on their machines. This paper explores the integration of locomotion and manipulation in diverse forms, defining and then testing seven general design rules. The kinematics study reports on system level choices for integrating limbs on robot bodies, with a critique using metrics that include workspace, strength, occlusion and view factors for perception systems and the relative proportions of the robot to its work site. The design axioms were tested with three cases of radically different mobile robots, spanning the spectrum from gantries, to wheeled vehicles, to free climbers in space. In all cases, the robot design is considered as an anatomical study, comparing relative proportions of the limbs and the robot's body. For the wheeled vehicles in particular, sub categories were considered to identify the impact of multiple arms, and the interplay of manipulation and perception requirements. The study is completed with a look at actual robot prototypes built by the authors in all archetypes, and sub types. The design axioms were tested and found to be both valid and useful as governing principles in each case.
© (2002) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Robert O. Ambrose, Robert T. Savely, "Synergy in the design of mobile manipulation", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457444; https://doi.org/10.1117/12.457444
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