HeterBot: A heterogeneous mobile manipulation robot for versatile operation

This study presents the overall architecture of HeterBot, a heterogeneous mobile manipulation robot developed in our lab, which is designed for versatile operation hazardous environments. The most significant feature HeterBot design created by adopting idea ‘big arm + small arm’ and car mini car’. combination has advantage functional complementation, achieves performance promotion both locomotion capabilities, making distinguished from other robots. Besides, multiple novel technologies are integrated into to expand its versatility ease use, including Virtual Robot Experimentation Platform-based teleoperation, reconfigurable end effectors, laser-aided grasping, with customised tools. Experimental results validate effectiveness various tasks. displays huge potential future applications, such as searching rescue.