Contents CHAMP: a Bespoke Integrated System for Mobile Manipulation Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho, Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik Mobile Intelligent Autonomous Systems (MIAS) Modelling and Digital Science (MDS) Council for Scientific and Industrial Research (CSIR) South Africa RobMech/PRASA/Aflat conference - 28 November 2014
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CHAMP: a Bespoke Integrated System for Mobile Manipulation
RobMech/PRASA/Aflat conference paper - presented 28 November 2014.
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ContentsCHAMP: a Bespoke Integrated
System for Mobile
Manipulation
Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho,
Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik
Mobile Intelligent Autonomous Systems (MIAS)
Modelling and Digital Science (MDS)
Council for Scientific and Industrial Research (CSIR)
South Africa
RobMech/PRASA/Aflat conference - 28 November 2014
2
Content
• Introduction
• Examples of mobile manipulators
• System integration
• Hardware integration
• Software integration
• Conclusion
3
Introduction
• Why Mobile Manipulators?– Healthcare and rehabilitation
– Search and rescue
– Assistant living
• Why integration?– Decrease in hardware and sensor cost
– Commercially available systems
– Customised
– Capability in system integration
• What were our requirements?– Available resources
– Research in robotics
– Increased flexibility
Shakey – Stanford Research Institute. (1966 – 1972)
4
Examples of Mobile Manipulators
1. Complete off-the-shelf mobile manipulators
2. Custom build systems – not commercially available