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dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.authorPalomo Avellaneda, Leopold
dc.contributor.authorMartínez Miralles, Jordi Ramon
dc.contributor.authorClos Costa, Daniel
dc.contributor.authorGarcía Hidalgo, Néstor
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.date.accessioned2019-01-30T10:47:26Z
dc.date.issued2018-01-01
dc.identifier.citationSuarez, R. [et al.]. Development of a dexterous dual-arm omnidirectional mobile manipulator. "IFAC-PapersOnLine", 1 Gener 2018, vol. 51, núm. 22, p. 126-131.
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/2117/127857
dc.description.abstractThis paper presents an experimental mobile manipulator composed of a dual-arm torso with a human-like structure assembled on an omnidirectional platform. The dual-arm system integrates several commercial devices: two arms UR5 with 6 degrees of freedom, each one equipped with an Allegro Hand with four fingers and a total of 16 degrees of freedom, and each fingertip provided with a tactile sensor. The omnidirectional platform has a circular shape and three wheels, with an original special design, whose coordinated movements allow omnidirectional displacements of the platform. It is equipped with laser-range sensors, a radio positioning system and an RGB-D camera to detect potential obstacles and navigate safely. The paper describes the main aspects of the mechanical structure of the mobile manipulator and the software framework developed to control the whole device.
dc.format.extent6 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.otherRobotics
dc.subject.otherMobile
dc.subject.otherManipulators
dc.subject.otherDual-Arm
dc.subject.otherRobots
dc.titleDevelopment of a dexterous dual-arm omnidirectional mobile manipulator
dc.typeArticle
dc.subject.lemacRobòtica
dc.subject.lemacMans mecàniques
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.groupUniversitat Politècnica de Catalunya. CDEI-DM - Centre de Disseny d'Equips Industrials-Dinàmica de Màquines
dc.identifier.doi10.1016/j.ifacol.2018.11.529
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttps://www.sciencedirect.com/science/article/pii/S240589631833235X
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac23579756
dc.description.versionPostprint (author's final draft)
dc.date.lift10000-01-01
local.citation.authorSuarez, R.; Palomo, L.; Martinez, J.; Clos, D.; García, N.
local.citation.publicationNameIFAC-PapersOnLine
local.citation.volume51
local.citation.number22
local.citation.startingPage126
local.citation.endingPage131


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Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain