抄録
Our dual-arm mobile manipulator consists of two manipulators mounted atop a wheeled mobile platform with a stereo camera. The original form was built in our laboratory a while ago and this time the arm portion has been modified for better performance. Extra degree-of-freedom is added to the elbows and now each arm has 5 DOF. This presentation introduces details of the modified version of the dual-arm mobile manipulator, including design modification, control and coordination between mobile platform and manipulators, and simple demonstration of the robot system.
