TY - GEN
T1 - Implementation of sensors and control paradigm for a hybrid mobile robot manipulator for search and rescue operations
AU - Ben-Tzvi, Pinhas
AU - Goldenberg, Andrew A.
AU - Zu, Jean W.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Control architecture
KW - Mobile manipulator
KW - Robot sensors
KW - Search and rescue
UR - http://www.scopus.com/inward/record.url?scp=48049095384&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48049095384&partnerID=8YFLogxK
U2 - 10.1109/ROSE.2007.4373974
DO - 10.1109/ROSE.2007.4373974
M3 - Conference contribution
AN - SCOPUS:48049095384
SN - 1424415276
SN - 9781424415274
T3 - ROSE 2007 - International Workshop on Robotic and Sensor Environments, Proceedings
SP - 92
EP - 97
BT - ROSE 2007 - International Workshop on Robotic and Sensor Environments, Proceedings
T2 - 2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007
Y2 - 12 October 2007 through 13 October 2007
ER -