Hardware and software architecture of a bimanual mobile manipulator for industrial application

摘要

We present our recent work on the Soft- and Hardware-design of a bi-manual mobile manipulation platform that can be used to evaluate planing paradigms in different scenarios, especially for industrial applications. The integration of different hardware parts (platform, arms, hands, head) establishes a testbed for diverse software packages, especially our fast and flexible multilevel planning framework. The architecture of our system covers all levels of sense and control and enables the robot to carry out a wide range of tasks important for adaptive industrial production systems. To maximize usability in future factories, our robot can be programmed in an intuitive process with very little expert knowledge.