Abstract
This paper presents the approach of the RoboCup@Work team tyrolics of the university of Innsbruck to design, develop and build a mobile manipulator with 10 degrees of freedom. The mobile manipulator LeoBot uses Mecanum wheels to enable omnidirectional movement and includes a Franka Emika Panda serial manipulator. This paper focuses on hardware development and provides information on mechanical, electronic, and mechatronic system components. Basic algorithms developed and used for the competition are briefly described.
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Sereinig, M., Manzl, P., Hofmann, P., Neurauter, R., Pieber, M., & Gerstmayr, J. (2023). Omnidirectional Mobile Manipulator LeoBot for Industrial Environments, Developed for Research and Teaching. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 13561 LNAI, pp. 127–139). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-28469-4_11
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