TOMM: Tactile omnidirectional mobile manipulator
Emmanuel Dean-Leon, Brennand Pierce, Florian Bergner, Philipp Mittendorfer, Karinne Ramirez-Amaro, Wolfgang Burger, Gordon Cheng
Abstract
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.
BibTeX
@inproceedings{icra2017_tommtactileomnid,
title = {TOMM: Tactile omnidirectional mobile manipulator},
author = {Emmanuel Dean-Leon and Brennand Pierce and Florian Bergner and Philipp Mittendorfer and Karinne Ramirez-Amaro and Wolfgang Burger and Gordon Cheng},
booktitle = {ICRA 2017},
year = {2017}
}