NDLI: AILA - design of an autonomous mobile dual-arm robot

Content Provider	IEEE Xplore Digital Library
Author	Lemburg, J. de Gea Fernandez, J. Eich, M. Mronga, D. Kampmann, P. Vogt, A. Aggarwal, A. Shi, Y. Kirchner, F.
Copyright Year	2011
Description	Author affiliation: DFKI Robotics Innovation Center, Bremen, Germany (Lemburg, J.; de Gea Fernandez, J.; Eich, M.; Mronga, D.; Kampmann, P.; Vogt, A.; Aggarwal, A.; Shi, Y.; Kirchner, F.)
Abstract	This paper presents the design of the robot AILA, a mobile dual-arm robot system developed as a research platform for investigating aspects of the currently booming multidisciplinary area of mobile manipulation. The robot integrates and allows in a single platform to perform research in most of the areas involved in autonomous robotics: navigation, mobile and dual-arm manipulation planning, active compliance and force control strategies, object recognition, scene representation, and semantic perception. AILA has 32 degrees of freedom, including 7-DOF arms, 4-DOF torso, 2-DOF head, and a mobile base equipped with six wheels, each of them with two degrees of freedom. The primary design goal was to achieve a lightweight arm construction with a payload-to-weight ratio greater than one. Besides, an adjustable body should sustain the dual-arm system providing an extended workspace. In addition, mobility is provided by means of a wheel-based mobile base. As a result, AILA's arms can lift 8kg and weigh 5.5kg, thus achieving a payload-to-weight ratio of 1.45. The paper will provide an overview of the design, especially in the mechatronics area, as well as of its realization, the sensors incorporated in the system, and its control software.
Starting Page	5147
Ending Page	5153
File Size	1789964
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979775
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile communication Robot kinematics Joints Sensors Brushless DC motors
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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