ROBMAT: Teleoperation of a Modular Robot for Collaborative Manipulation

  • Juan A. Escalera
  • Manuel Ferre
  • Rafael Aracil
  • José Baca
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4693)


The present paper describes the architecture of a modular robot called RobMAT. A module description which includes both hardware and software features are shown. The module has 3 DoF which gives great functionality to the module. The connection between modules forms molecules. The simplest molecule is called base with 5 DoF. Channels of communication between modules (CAN bus) and molecules (Bluetooth) are also described. A method in representing molecule configurations based on Graph Theory is explained. This method allows developing algorithm for dynamically changing-robots such as modular robots. It also explains how the molecule is allowed to act as a whole synchronization algorithm. Finally a collaborative manipulation task, which is teleoperated, is shown. Elements involve in teleoperation are also described.


Modular robot self-configurable teleoperation  human-interface 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Juan A. Escalera
    • 1
  • Manuel Ferre
    • 1
  • Rafael Aracil
    • 1
  • José Baca
    • 1
  1. 1.Dpto. Automática, Ing. Electrónica, e Inf. Industrial, Universidad Politecnica de Madrid, C/. José Gutierrez Abascal,2, MadridSpain

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