Abstract
Mobile manipulation is a robotics paradigm with the potential to make major contributions to a number of important domain areas. Although some mobile manipulators are commercially available, bespoke systems can be assembled from existing and separate mobile, manipulation, and vision components. This has the benefit of reusing existing hardware, at a lower cost, to produce a customised platform. In this paper we introduce CHAMP, the CSIR Hybrid Autonomous Manipulation Platform, and describe the required integration of a Barrett Whole Arm Manipulator, a PowerBot AGV, and the necessary sensors. The described integration includes both the hardware and the software.
Documentation: https://wowchemy.com/docs/managing-content/
title: ‘CHAMP: A bespoke integrated system for mobile manipulation’ subtitle: ’' summary: ’' authors:
tags: [] categories: [] date: ‘2014-01-01’ lastmod: 2022-09-17T14:22:38+02:00 featured: false draft: false
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Benjamin Rosman
Lab Director
I am a Professor in the School of Computer Science and Applied Mathematics at the University of the Witwatersrand in Johannesburg. I work in robotics, artificial intelligence, decision theory and machine learning.
