000141298 001__ 141298
000141298 005__ 20190812205338.0
000141298 02470 $$2ISI
000141298 0247_ $$2doi$$a10.1007/978-3-642-10817-4_2
000141298 02470 $$a000279602600002
000141298 037__ $$aCONF
000141298 245__ $$aThe Hand-bot, a Robot Design for Simultaneous Climbing and Manipulation
000141298 269__ $$a2009
000141298 260__ $$bSpringer-Verlag$$c2009$$aBerlin Heidelberg
000141298 336__ $$aConference Papers
000141298 490__ $$aLecture Notes in Computer Science$$v5928
000141298 520__ $$aWe present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by taking a collective robotics perspective: different types of small robots perform different tasks and exploit complementarity by collaborating together. We propose a robot design to solve one of these tasks: climbing vertical structures and manipulating objects. Our robot embeds two manipulators that can grasp both objects or structures. To help climbing, it uses a rope to compensate for the gravity force. This allows it to free one of its manipulators to interact with an object while the other grasps a part of a structure for stabilization. Our robot can launch and retrieve the rope autonomously, allowing multiple ascents. We show the design and the implementation of our robot and demonstrate the successful autonomous retrieval of a book from a shelf.
000141298 6531_ $$a[MOBOTS]
000141298 6531_ $$arobotics
000141298 6531_ $$amicroengineering
000141298 6531_ $$aclimbing
000141298 6531_ $$ahandbot
000141298 6531_ $$amanipulation
000141298 6531_ $$aswarmanoid
000141298 6531_ $$amobile robots
000141298 6531_ $$arope launcher
000141298 6531_ $$aaseba
000141298 700__ $$0241015$$g120088$$aBonani, Michael
000141298 700__ $$0240744$$g118595$$aMagnenat, Stéphane
000141298 700__ $$0244052$$g160180$$aRétornaz, Philippe
000141298 700__ $$aMondada, Francesco$$g102717$$0240589
000141298 7112_ $$d16 - 18 December, 2009$$cSingapore$$aSecond International Conference on Intelligent Robotics and Applications
000141298 720_1 $$aXie, Ming$$eed.
000141298 773__ $$j5928$$tProceedings of the Second International Conference on Intelligent Robotics and Applications$$q11-22
000141298 8564_ $$zURL$$uhttp://icira2009.robotics.sg/
000141298 8564_ $$zn/a$$uhttps://infoscience.epfl.ch/record/141298/files/handbot-icira2009-final.pdf$$s10652726
000141298 909C0 $$pLSRO$$0252016
000141298 909CO $$pSTI$$ooai:infoscience.tind.io:141298$$qGLOBAL_SET$$pconf
000141298 917Z8 $$x118595
000141298 917Z8 $$x102717
000141298 937__ $$aLSRO-CONF-2009-022
000141298 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000141298 980__ $$aCONF