uBot-3
uBot-3
The uBot-3 is a proof of concept two wheeled dynamically stable bi-manual mobile manipulator. The 3-DOF arms are machined from aluminum and actuated by R/C hobby servos with a PIC servo motor controller. The body of the uBot-3 is similar to that of the uBot-2. The uBot-3 was used primarily for pushing experiments.
Videos:
Box Pushing
The uBot-3 demonstrates box pushing. (avi)
Arm Movement
The uBot-4 demonstrates arm movement while balancing. (mov)
Static vs. Dynamic
This movie demonstrates the advantage of dynamically balancing in a pushing task. In the left frame, a dynamically balanced uBot-3 pushes a drawer full of books. In the right hand frame a statically stable version of the uBot-3 attempts to push the same drawer and fails. The statically stable uBot-3 was created by adding passive casters to the platform and turning off the balancing algorithm. (avi)