Advanced uBot-4 Mobile Manipulator with 11 DOF and Dynamic Balancing for Versatile Applications
The uBot-4 is an innovative mobile manipulator featuring 11 degrees of freedom (DOF), dynamic balancing, and a trunk rotation mechanism. With a lifting capacity of 5 lbs at full extension and a compact footprint, it reaches an impressive 18” at the shoulder. Weighing approximately 30 lbs and operated at a max velocity of 3 feet/second with a power consumption of 200W, it is well-suited for applications in assisted care facilities, habitat construction, and more. Priced at $15K, it incorporates advanced momentum control and whole-body balancing for enhanced stability and performance.
Advanced uBot-4 Mobile Manipulator with 11 DOF and Dynamic Balancing for Versatile Applications
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Presentation Transcript
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
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)
NASA Surface Handling - Habitat Construction …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)
