Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility

Kim, Raymond

Title:

Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility

dc.contributor.advisor	Mazumdar, Anirban
dc.contributor.author	Kim, Raymond
dc.contributor.committeeMember	Balakirsky, Stephen
dc.contributor.committeeMember	Rogers, Jonathan
dc.contributor.committeeMember	Ueda, Jun
dc.contributor.committeeMember	Young, Aaron
dc.contributor.department	Mechanical Engineering
dc.date.accessioned	2023-05-18T17:58:07Z
dc.date.available	2023-05-18T17:58:07Z
dc.date.created	2023-05
dc.date.issued	2023-04-30
dc.date.submitted	May 2023
dc.date.updated	2023-05-18T17:58:08Z
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
dc.subject	Mobile Manipulation
dc.subject	Mobile Robots
dc.subject	Modeling and Design of Mechatronic Systems
dc.subject	Vehicles and Space Exploration
dc.subject	Wheeled Robots
dc.title	Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility
dc.type	Text
dc.type.genre	Dissertation
dspace.entity.type	Publication
local.contributor.advisor	Mazumdar, Anirban
local.contributor.corporatename	College of Engineering
local.contributor.corporatename	George W. Woodruff School of Mechanical Engineering
relation.isAdvisorOfPublication	4f18134d-0414-4dc6-b388-d255d6f0d7b7
relation.isOrgUnitOfPublication	7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication	c01ff908-c25f-439b-bf10-a074ed886bb7
thesis.degree.level	Doctoral