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ATOM- A Low-Cost Mobile Manipulation Platform for Research and Testing

Abhijit Makhal, Manish Raj, Karan Singh, Rajan Singh, Pavan Chakraborty, G. C. Nandi Published in Automation

International Journal of Applied Information Systems
Year of Publication: 2012
© 2012 by IJAIS Journal
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  1. Abhijit Makhal, Manish Raj, Karan Singh, Rajan Singh, Pavan Chakraborty and G C Nandi. Article: ATOM- A Low-Cost Mobile Manipulation Platform for Research and Testing. International Journal of Applied Information Systems 4(10):1-7, December 2012. BibTeX

    	author = "Abhijit Makhal and Manish Raj and Karan Singh and Rajan Singh and Pavan Chakraborty and G. C. Nandi",
    	title = "Article: ATOM- A Low-Cost Mobile Manipulation Platform for Research and Testing",
    	journal = "International Journal of Applied Information Systems",
    	year = 2012,
    	volume = 4,
    	number = 10,
    	pages = "1-7",
    	month = "December",
    	note = "Published by Foundation of Computer Science, New York, USA"


This paper represents the technique of developing a ROS (Robot Operating System) based low cost mobile manipulator. Additionally, the contemporary commercial and custom ROS-based mobile manipulators have been discussed. In this paper, we have discussed how the performance of the high-end mobile manipulation platforms can be partially achieved by a low-cost custom made module implementing the basic packages of ROS. The architecture and till to date development on the platform-ATOM (Autonomous Testbed of Mobile Manipulation) has been also shown.


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ROS, Mobile Manipulators, Mapping, Arm manipulation