{"id":{"repo_id":"gatech","oai_identifier":"oai:repository.gatech.edu:1853/72089"},"canonical_url":"https://search.dev.ndltd.org/etd/gatech/oai:repository.gatech.edu:1853/72089","repository":{"repo_id":"gatech","name":"Georgia Tech","base_url":"https://repository.gatech.edu/server/oai/request"},"display":{"title":"Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility","abstract":"Terrestrial mobile robotics are crucial to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety of terrain. Physical adaptation can enable a robot to intelligently interact with the environment to benefit from efficient and versatile performance. We describe a new approach to physical adaptation through manipulation. Specifically, this work investigates how manipulators can be used to change the vehicle's locomotive capabilities or increase vehicle traction. This work presents \"swappable propulsors/anchors\", which can be easily attached/detached to adapt the vehicle by exploiting geometric features and permanent magnets. A new robot system that uses its manipulator to swap between propulsors/anchors is created. This work experimentally demonstrates and quantifies how this manipulation-driven adaptation method provides a unique combination of energy efficiency and versatility in performance. We describe the design of swappable propulsors/anchors, analyze how to manipulate them and describe how they can be used to improve performance in mobility and payload transport across various surfaces.","abstract_html":"Terrestrial mobile robotics are crucial to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety of terrain. Physical adaptation can enable a robot to intelligently interact with the environment to benefit from efficient and versatile performance. We describe a new approach to physical adaptation through manipulation. Specifically, this work investigates how manipulators can be used to change the vehicle's locomotive capabilities or increase vehicle traction. This work presents "swappable propulsors/anchors", which can be easily attached/detached to adapt the vehicle by exploiting geometric features and permanent magnets. A new robot system that uses its manipulator to swap between propulsors/anchors is created. This work experimentally demonstrates and quantifies how this manipulation-driven adaptation method provides a unique combination of energy efficiency and versatility in performance. We describe the design of swappable propulsors/anchors, analyze how to manipulate them and describe how they can be used to improve performance in mobility and payload transport across various surfaces.","abstract_has_math":false,"creators":["Kim, Raymond"],"institution":"Georgia Institute of Technology","degree_name":null,"degree_level":"Doctoral","degree_discipline":null,"degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":["Mazumdar, Anirban"],"committee_chairs":[],"committee_members":["Balakirsky, Stephen","Rogers, Jonathan","Ueda, Jun","Young, Aaron"],"year":2023,"date_issued":"2023-04-30","date_published":"2023-04-30","updated_at":"2026-07-27T19:49:22Z","subjects":["Mechanism design","Mobile Manipulation","Mobile Robots","Modeling and Design of Mechatronic Systems","Vehicles and Space Exploration","Wheeled Robots"],"languages":["en_US"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/1853/72089","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Mazumdar, Anirban"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Balakirsky, Stephen","Rogers, Jonathan","Ueda, Jun","Young, Aaron"]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Kim, Raymond"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2023-05-18T17:58:07Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2023-05-18T17:58:07Z"]},{"key":"dc:date.issued","label":"Date","values":["2023-04-30"]},{"key":"dc:publisher","label":"Institution","values":["Georgia Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Text"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Doctoral"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mechanism design","Mobile Manipulation","Mobile Robots","Modeling and Design of Mechatronic Systems","Vehicles and Space Exploration","Wheeled Robots"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_US"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/1853/72089"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Terrestrial mobile robotics are crucial to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety of terrain. Physical adaptation can enable a robot to intelligently interact with the environment to benefit from efficient and versatile performance. We describe a new approach to physical adaptation through manipulation. Specifically, this work investigates how manipulators can be used to change the vehicle's locomotive capabilities or increase vehicle traction. This work presents \"swappable propulsors/anchors\", which can be easily attached/detached to adapt the vehicle by exploiting geometric features and permanent magnets. A new robot system that uses its manipulator to swap between propulsors/anchors is created. This work experimentally demonstrates and quantifies how this manipulation-driven adaptation method provides a unique combination of energy efficiency and versatility in performance. We describe the design of swappable propulsors/anchors, analyze how to manipulate them and describe how they can be used to improve performance in mobility and payload transport across various surfaces."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Ph.D."]},{"key":"dc:format.mimetype","label":"Dc Format Mimetype","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility"]}]}],"canonical_facts":{"dc:contributor.advisor":["Mazumdar, Anirban"],"dc:contributor.committeemember":["Balakirsky, Stephen","Rogers, Jonathan","Ueda, Jun","Young, Aaron"],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Kim, Raymond"],"dc:date.accessioned":["2023-05-18T17:58:07Z"],"dc:date.available":["2023-05-18T17:58:07Z"],"dc:date.issued":["2023-04-30"],"dc:description.abstract":["Terrestrial mobile robotics are crucial to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety of terrain. Physical adaptation can enable a robot to intelligently interact with the environment to benefit from efficient and versatile performance. We describe a new approach to physical adaptation through manipulation. Specifically, this work investigates how manipulators can be used to change the vehicle's locomotive capabilities or increase vehicle traction. This work presents \"swappable propulsors/anchors\", which can be easily attached/detached to adapt the vehicle by exploiting geometric features and permanent magnets. A new robot system that uses its manipulator to swap between propulsors/anchors is created. This work experimentally demonstrates and quantifies how this manipulation-driven adaptation method provides a unique combination of energy efficiency and versatility in performance. We describe the design of swappable propulsors/anchors, analyze how to manipulate them and describe how they can be used to improve performance in mobility and payload transport across various surfaces."],"dc:description.degree":["Ph.D."],"dc:format.mimetype":["application/pdf"],"dc:identifier.uri":["https://hdl.handle.net/1853/72089"],"dc:language.iso":["en_US"],"dc:publisher":["Georgia Institute of Technology"],"dc:subject":["Mechanism design","Mobile Manipulation","Mobile Robots","Modeling and Design of Mechatronic Systems","Vehicles and Space Exploration","Wheeled Robots"],"dc:title":["Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility"],"dc:type":["Text"],"thesis:degree_level":["Doctoral"]},"updated_at":"2026-07-27T19:49:22Z"}