NDLI: Development of modular and reconfigurable robot with multiple working modes

Content Provider	IEEE Xplore Digital Library
Author	Guangjun Liu Xiaojia He Jing Yuan Abdul, S. Goldenberg, A.A.
Copyright Year	2008
Description	Author affiliation: Dept. of Aerosp. Eng., Ryerson Univ., Toronto, ON (Guangjun Liu; Xiaojia He; Jing Yuan; Abdul, S.)
Abstract	A modular and reconfigurable robot (MRR) with multiple working modes is developed for performing sophisticated tasks in uncontrolled environments. In the proposed MRR design, each joint module can independently work in active modes with position or torque control, or passive modes with friction compensation. Under a federated control system architecture, not only the MRR configuration can be reconfigured to adapt to various tasks, but also the working mode of each module, which can be switched on-line to satisfy the needs to carry out sophisticated tasks. Three joint modules have been developed, and the proposed method of passive working mode implementation with friction compensation has been tested experimentally. Door opening using a mobile manipulator consisting of the developed joint modules is studied as an application case study of the proposed multiple working mode MRR.
Starting Page	3502
Ending Page	3507
File Size	699272
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543746
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Impedance Humans Mobile robots Control systems Robotics and automation Centralized control Robot sensing systems Springs Friction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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