TY - GEN
T1 - TOMM
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
AU - Dean-Leon, Emmanuel
AU - Pierce, Brennand
AU - Bergner, Florian
AU - Mittendorfer, Philipp
AU - Ramirez-Amaro, Karinne
AU - Burger, Wolfgang
AU - Cheng, Gordon
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - In this paper, we present the mechatronic design of our Tactile Omnidirectional Robot Manipulator (TOMM), which is a dual arm wheeled humanoid robot with 6DoF on each arm, 4 omnidirectional wheels and 2 switchable end-effectors (1 DoF grippers and 12 DoF Hands). The main feature of TOMM is its arms and hands which are covered with robot skin. We exploit the multi-modal tactile information of our robot skin to provide a rich tactile interaction system for robots. In particular, for the robot TOMM, we provide a general control framework, capable of modifying the dynamic behavior of the entire robot, e.g., producing compliance in a non-compliant system. We present the hardware, software and middleware components of the robot and provide a compendium of the base technologies deployed in it. Furthermore, we show some applications and results that we have obtained using this robot.
AB - In this paper, we present the mechatronic design of our Tactile Omnidirectional Robot Manipulator (TOMM), which is a dual arm wheeled humanoid robot with 6DoF on each arm, 4 omnidirectional wheels and 2 switchable end-effectors (1 DoF grippers and 12 DoF Hands). The main feature of TOMM is its arms and hands which are covered with robot skin. We exploit the multi-modal tactile information of our robot skin to provide a rich tactile interaction system for robots. In particular, for the robot TOMM, we provide a general control framework, capable of modifying the dynamic behavior of the entire robot, e.g., producing compliance in a non-compliant system. We present the hardware, software and middleware components of the robot and provide a compendium of the base technologies deployed in it. Furthermore, we show some applications and results that we have obtained using this robot.
UR - http://www.scopus.com/inward/record.url?scp=85027998398&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989284
DO - 10.1109/ICRA.2017.7989284
M3 - Conference contribution
AN - SCOPUS:85027998398
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2441
EP - 2447
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 29 May 2017 through 3 June 2017
ER -