The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments
Charles C. Kemp,Aaron Edsinger,Henry M. Clever,Blaine Matulevich,Charles C. Kemp,Aaron Edsinger,Henry M. Clever,Blaine Matulevich
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks restricting capabilities. We present a novel design that reduces size, weight, and cost, while supporting a variety of tasks. The core design consists of a two-wheeled...
