Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility

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.

Level thesis:degree_level

Doctoral

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Georgia Institute of Technology

Year dc:date.issued

2023

Author dc:creator

• Kim, Raymond

Advisor dc:contributor.advisor

• Mazumdar, Anirban

Committee members dc:contributor.committeemember

• Balakirsky, Stephen
• Rogers, Jonathan
• Ueda, Jun
• Young, Aaron

• Mechanism design
• Mobile Manipulation
• Mobile Robots
• Modeling and Design of Mechatronic Systems
• Vehicles and Space Exploration
• Wheeled Robots

Language dc:language.iso

en_US

Handle dc:identifier.uri

https://hdl.handle.net/1853/72089

OAI identifier oai:identifier

oai:repository.gatech.edu:1853/72089