uBot-4

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uBot- 4 Hardware: • 11 DOF - 2 four dof arms, trunk rotation, dynamically balancing mobility platform • 5 lbs lifting capacity at full extension • 18” at shoulder, 18” reach, footprint: 11” wide, 6”deep, weight: ~30lbs • max. velocity: 3 feet/second • power consumption: 200W Firmware: • control basis API, null space • composition (same as Dexter) • whole-body balancing • basic vestibular functions (balancing, • bracing, righting) Pricepoint: $15k

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uBot-4. Hardware: 11 DOF - 2 four dof arms, trunk rotation, dynamically balancing mobility platform 5 lbs lifting capacity at full extension 18” at shoulder, 18” reach, footprint: 11” wide, 6”deep, weight: ~30lbs max. velocity: 3 feet/second power consumption: 200W Firmware: - PowerPoint PPT Presentation

Transcript of uBot-4

Page 1: uBot-4

uBot-4Hardware:

• 11 DOF - 2 four dof arms, trunk rotation, dynamically balancing mobility platform

• 5 lbs lifting capacity at full extension• 18” at shoulder, 18” reach, footprint: 11” wide,

6”deep, weight: ~30lbs• max. velocity: 3 feet/second• power consumption: 200WFirmware:• control basis API, null space • composition (same as Dexter)• whole-body balancing• basic vestibular functions (balancing,• bracing, righting) Pricepoint: $15k

Page 2: uBot-4

uBot-4 Mobile Manipulator Technology

• supports momentum re-distribution and control (robot weight lifting)

• load carrying strategies that do not violate stability constraints of the platform

• basic vestibular functions (whole-body balancing, bracing, righting)

QuickTime™ and a decompressor

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QuickTime™ and a decompressor

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NASA Surface Handling - Habitat Construction

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QuickTime™ and aMPEG-4 Video decompressor

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…despite the added complexity, evolution repeatedly selects for solutions that exploit dynamics to achieve performance, power, and speed

• supports momentum re-distribution and control (robot weight lifting)

• load carrying strategies that do not violate stability constraints of the platform

• basic vestibular functions (whole-body balancing, bracing, righting)

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Client-Side Tour of an Assisted Care Facility

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A Virtual House Call with Gestural Interaction

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Rapid Response and Medical Telemetry

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Autonomously Clearing an Activity Corridor

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Autonomously Clearing an Activity Corridor

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Autonomously Clearing an Activity Corridor

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Autonomously Clearing an Activity Corridor

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Autonomously Clearing an Activity Corridor

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Autonomously Clearing an Activity Corridor

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Autonomously Clearing an Activity Corridor


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Stimulus Pulse Based Distributed Control for the Locomotion of a UBot Modular Robot

Stimulus Pulse Based Distributed Control for the Locomotion of a UBot Modular Robot

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