Name
Abstract | ||
|---|---|---|
In this paper, we present the mechatronic design of our Tactile Omnidirectional Robot Manipulator (TOMM), which is a dual arm wheeled humanoid robot with 6DoF on each arm, 4 omnidirectional wheels and 2 switchable end-effectors (1 DoF grippers and 12 DoF Hands). The main feature of TOMM is its arms and hands which are covered with robot skin. We exploit the multi-modal tactile information of our robot skin to provide a rich tactile interaction system for robots. In particular, for the robot TOMM, we provide a general control framework, capable of modifying the dynamic behavior of the entire robot, e.g., producing compliance in a non-compliant system. We present the hardware, software and middleware components of the robot and provide a compendium of the base technologies deployed in it. Furthermore, we show some applications and results that we have obtained using this robot. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ICRA.2017.7989284 | ICRA |
Field | DocType | Volume |
Social robot,Robot control,Computer vision,Simulation,Personal robot,Robot end effector,Artificial intelligence,Engineering,Mobile robot,Arm solution,Mobile manipulator,Articulated robot | Conference | 2017 |
Issue | Citations | PageRank |
1 | 5 | 0.45 |
References | Authors | |
10 | 7 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Emmanuel C. Dean-Leon | 1 | 62 | 15.39 |
| Brennand Pierce | 2 | 35 | 3.89 |
| Florian Bergner | 3 | 21 | 6.14 |
| Philipp Mittendorfer | 4 | 91 | 7.50 |
| Karinne Ramirez-Amaro | 5 | 36 | 5.19 |
| Wolfgang Burger | 6 | 7 | 1.15 |
| Gordon Cheng | 7 | 1250 | 115.33 |