Design and control of a compliant parallel manipulator for a mobile platform

Thomas Sugar, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations


We describe a novel design for a compliant arm that can be mounted on a mobile robot. The main features of the arm are the in-parallel architecture of the arm and a novel control scheme that allows us to easily control the Cartesian stiness or impedance in the plane. Because the arm is compliant, a mobile robot can manipu- late or interact with objects that are not precisely positioned in the environment. Further, a mobile robot equipped with such an arm can cooperate with other mobile robots in manipula- tion tasks. For example, two such arms can hold an object in a stable grasp by applying and maintaining appropriate contact forces with the appropriate stiness. We present experimental results that show the performance of the compliant arm and the use of the arm while two platforms cooperate in a manipulation task.

Original languageEnglish (US)
Title of host publication25th Biennial Mechanisms Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791880319
StatePublished - 1998
Externally publishedYes
EventASME 1998 Design Engineering Technical Conferences, DETC 1998 - Atlanta, United States
Duration: Sep 13 1998Sep 16 1998

Publication series

NameProceedings of the ASME Design Engineering Technical Conference


ConferenceASME 1998 Design Engineering Technical Conferences, DETC 1998
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation


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