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uBot-4

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:

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uBot-4

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  1. 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

  2. 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)

  3. 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)

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