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Implementation and Control of an Extendable and Separable Mobile Robot Manipulator For Indoor Service  

Ahn, Jae-Kook (Department of Mechatronics Engineering, Chungnam National University)
Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.48, no.1, 2011 , pp. 39-46 More about this Journal
Abstract
This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot ann and the mobile robot as well. The mobile base can be separately used for a cleaning service.
Keywords
robot manipulator; mobile robot; mobile manipulator;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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