Mobile Manipulation and Mobility as Manipulation - Design and Algorithms of RoboSimian

@article{Hebert2015MobileMA,
  title={Mobile Manipulation and Mobility as Manipulation - Design and Algorithms of RoboSimian},
  author={Paul Hebert and Max Bajracharya and Jeremy Ma and Nicolas Hudson and Alper Aydemir and Jason I. Reid and Charles Bergh and James Borders and Matthew Frost and Michael Hagman and John Leichty and Paul Backes and Brett Kennedy and Paul Karplus and Brian W. Satzinger and Katie Byl and Krishna Shankar and Joel W. Burdick},
  journal={J. Field Robotics},
  year={2015},
  volume={32},
  pages={255-274}
}
This article presents the hardware design and software algorithms of RoboSimian, a statically stable quadrupedal robot capable of both dexterous manipulation and versatile mobility in difficult terrain. The robot has generalized limbs and hands capable of mobility and manipulation, along with almost fully hemispherical 3D sensing with passive stereo cameras. The system is semi-autonomous, enabling low-bandwidth, high latency control operated from a standard laptop. Because limbs are used for… CONTINUE READING
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