Principal Investigator Steven Dubowsky
Co-investigator Karl Iagnemma
Project Website http://robots.mit.edu/projects/fmi/index.html
A high precision, mobile robot manipulator with 7 degrees of freedom is currently under development, handling heavy loads while completing complex tasks in dynamic environments. The robot uses direct-drive electric motors based on a new motor architecture developed at Foster-Miller Inc. that allows for 50 times the torque-density of existing direct-drive motors.
The robot is specified to manage among other things: 91) payloads up to 3000 lbs. (1400 kg) an d(2) snow, ice, rain, and salt spray in the temperature interval -25 to 140 F (-32 to 60 C).
Technical Challenges include: (1) Mobile platform suspension and ground motions (0.5g): All actions; (2) Manipulator joint friction; (3) Elastic deformations under heavy loads: All actions; and (4) Crowded and unstructured environment: Large motion actions.