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Creators/Authors contains: "Hollis, Ralph"

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  1. ; ; ; (, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024))
    Accepted Manuscript Full Text Available
  2. ; ; ; ; (, Arxiv (ICRA under review))
    Accepted Manuscript Full Text Available
  3. ; ; ; ; ; (, Arxiv (ICRA under review))
    Free, publicly-accessible full text available November 3, 2025
  4. ; (, International Conference on Humanoid Robots (Humanoids))
    This paper presents a new 14-DoF dual manipulation system for the CMU ballbot. The result is a new type of robot that combines smooth omnidirectional motion with the capability to interact with objects and the environment through manipulation. The system includes a pair of 7-DoF arms. Each arm weighs 12.9 kg, with a reach of 0.815 m, and a maximum payload of 10 kg at full extension. The ballbot's arms have a larger payload-to-weight ratio than commercial cobot arms with similar or greater payload. Design features include highly integrated sensor-actuator-control units in each joint, lightweight exoskeleton structure, and anthropomorphic kinematics. The integration of the arms with the CMU ballbot is demonstrated through heavy payload carrying and balancing experiments. 
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