Abstract
We propose a mobile manipulator with another detachable mobile hand to extend the work area and the manipulation ability such as multiple manipulators. The detachable mobile hand is developed and evaluated by some experiments to grasp an object outside the work area of a single manipulator. As the results, We confirmed the proposed system can grasp the object by cooperation of the mobile manipulator and the detachable mobile hand. This paper describes the developed mechanism in detail and reports experimental results using a real robot in a real environment.
