Modular Design and Structure for a Mobile Sensory Platform
A mobile manipulator is a manipulator mounted on a mobile platform with no support from the ground. We are already in the process of building a platform (RISCbot II) which consists of a comprehensive sensor suite and significant end-effector capabilities for manipulation. In order to reduce the uncertainty in localization, sensor fusion is used to create an efficient and effective user interface to facilitate teleoperation by enhancing the quality of information that is provided to the teleoperator.
This paper presents the modular design process of the RISCbot II mobile manipulator. In the design process, the overall design of the system is discussed and then the control process of the robot is presented. Furthermore, the tasks that the RISCbot II can perform such as teleoperation, navigation, obstacle avoidance, manipulation, face detection and recognition, and map building are described.
KeywordsMobile Robot Face Recognition Obstacle Avoidance Face Detection Mobile Manipulator
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