MobiDock: Design and Control of A Modular Self Reconfigurable Bimanual Mobile Manipulator via Robotic Docking

TL;DR

This paper introduces MobiDock, a modular self-reconfigurable mobile manipulator system that physically connects two robots to form a stable, efficient bimanual platform, simplifying control and enhancing performance in complex tasks.

Contribution

The paper presents a novel docking mechanism and control strategy for a modular mobile manipulator, enabling physical reconfiguration to improve stability and operational efficiency.

Findings

Docked system shows lower RMS acceleration and jerk.

Higher angular precision in docked configuration.

Faster task completion compared to independent robots.

Abstract

Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile manipulator system that allows two independent robots to physically connect and form a unified mobile bimanual platform. This process helps transform a complex multi-robot control problem into the management of a simpler, single system. The system utilizes an autonomous docking strategy based on computer vision with AprilTag markers and a new threaded screw-lock mechanism. Experimental results show that the docked configuration demonstrates better performance in dynamic stability and operational efficiency compared to two independently cooperating robots. Specifically, the unified system has lower Root Mean Square (RMS) Acceleration and Jerk values, higher angular precision, and completes tasks significantly faster. These findings confirm that physical reconfiguration is a powerful design principle that simplifies cooperative control, improving stability and performance for complex tasks in real-world environments.