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OmniMan: An Omnidirectional Mobile Manipulator for Human-Robot Collaboration

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Academic year: 2020

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Figure

Figure 1.Mobile manipulator OmniMan: UR5 robotic arm on a Mecanumwheeled mobile platform
Figure 2.Definition of pose xp = (xp, yp, θp)T and robot frame
Figure 4.Mecanum wheel with frames
Figure 5.Omnidirectional platform with Mecanum wheels (top view)
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