Implementation of sensors and control paradigm for a hybrid mobile robot manipulator for search and rescue operations

Pinhas Ben-Tzvi, Andrew A. Goldenberg, Jean W. Zu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper presents the control paradigm and embedded sensors for a mobile robot manipulator whereby the mobile platform and manipulator arm are designed as one entity to support both locomotion and manipulation simultaneously and interchangeably in several configuration modes. Along with the description of the novel design architecture, we developed, constructed and tested a novel paradigm for on-board RF data communication among robot's joints. This paper also describes the sensor and camera layout and their implementation in the mobile robot manipulator. A modular and extensible power source system design with major key elements that allow for easy reconfiguration and expansion was also developed, implemented and tested for the hybrid mobile robot manipulator.

Original languageEnglish
Title of host publicationROSE 2007 - International Workshop on Robotic and Sensor Environments, Proceedings
Pages92-97
Number of pages6
DOIs
StatePublished - 2007
Event2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007 - Ottawa, ON, Canada
Duration: 12 Oct 200713 Oct 2007

Publication series

NameROSE 2007 - International Workshop on Robotic and Sensor Environments, Proceedings

Conference

Conference2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007
Country/TerritoryCanada
CityOttawa, ON
Period12/10/0713/10/07

Keywords

  • Control architecture
  • Mobile manipulator
  • Robot sensors
  • Search and rescue

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