ATOM- A Low-Cost Mobile Manipulation Platform for Research and Testing

摘要

This paper represents the technique of developing a ROS (Robot Operating System) based low cost mobile manipulator. Additionally, the contemporary commercial and custom ROSbased mobile manipulators have been discussed. In this paper, we have discussed how the performance of the high-end mobile manipulation platforms can be partially achieved by a low-cost custom made module implementing the basic packages of ROS. The architecture and till to date development on the platform-ATOM (Autonomous Testbed of Mobile Manipulation) has been also shown.