A Mobile Manipulator
Proceedings, 1999 IEEE Int Conf Robotics and Automation
Matthew T. Mason, Dinesh K. Pai, Daniela Rus, Lee R. Taylor, and Michael A. Erdmann
Abstract
This paper describes a mobile manipulator that uses its wheels
for manipulation as well as locomotion. This robot, named the {\em
mobipulator}, looks like a small car with four independently powered
wheels, none of them steered. It is designed to manipulate paper and
other objects on the surface of a desk. The wheels are used for
locomotion or for manipulation, switching functions dynamically as the
task demands. So far we have preliminary demonstrations of a variety
of motions, and performance data for the task of moving a sheet of
paper in a square while maintaining constant orientation.