Building a mobile manipulator can be expensive in terms of:
Thus they are only accessible to a few. Is it possible to reach a broader audience? We built a two-arm mobile manipulator from Off-The-Shelf solutions for:
We got a platform that allows us to focus in Algorithms and Distributed Software.
Usually there's an Application/Deployment dependancy. It's also expensive to work with exact replicas. It would be better to build generic/modular solutions. We wanted to Emphasize the need of a DESIGN
A platform to study human-robot cooperative tasks in Space-Analogue Mobile Manipulation such as Planetary exploration or Assisting in EVA . . .
We wanted to achive: modularity and nimble human-like dimensions and capabilities. There are a variety of arms and mobile bases commercially available but few seem suitable to combine because of their Payloads, external modules, capabilities, openness. . .
We focused in Whole-Arm / Whole-Body Manipulation, Visual Servoing and [Force, Visual] Teleoperation.
