Designing a Self-Stabilizing Robot for Dynamic Mobile Manipulation

Abstract

The UMASS uBot-4 is a two wheeled, dynamically stable, bimanual mobile manipulator. It is a compact, safe, and cost effective platform with many features such as whole body postural control, force sensing actuators, two 4-DOF arms, and a small footprint. It is the latest in a series of small mobile robots that originated with the uBot-0.5 (ca. 1997). This paper presents the motivations for the design of the uBot series and describes how the platform evolved from a small reactive heat-seeking robot to a highly capable mobile manipulator.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA459932

Entities

People

  • Bryan J. Thibodeau
  • Patrick Deegan
  • Roderic Grupen

Organizations

  • University of Massachusetts Amherst

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Actuators
  • Aircrafts
  • Aspect Ratio
  • Computer Science
  • Control
  • Crash Landings
  • Detectors
  • Environment
  • Feasibility Studies
  • Information Operations
  • Line Of Sight
  • Manipulators
  • Mobile Manipulators
  • Platforms
  • Robots
  • Sonar Transducers

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy