Mobile Manipulation Platform Husky

This package supplies Sphinx-based tutorial content to assist you with setting up and using MBS Husky-xARM6-Robotiq robot. The tutorials topics are listed in the left column, and are presented in the suggested reading order.

Attention

These tutorials assume that you are comfortable working with ROS. We recommend starting with ros2 tutorials. if you are not familiar with ROS already.

Clearpath Husky

Welcome to the Clearpath Husky Mobile Manipulation Platform hub, your gateway to exploring a range of innovative projects and configurations built on the robust and versatile Clearpath Husky platform. The Clearpath Husky serves as a reliable foundation for diverse research and development endeavors, offering rugged all-terrain mobility, precise control, and customizable capabilities. The Husky is shipped in a medium wooden crate, ensuring safe transportation. At MyBotShop GmbH, we go the extra mile by providing the Husky with pre-installed and configured base software packages, including motor drivers and IMU sensors, in the Husky’s ros2_ws.

From autonomous navigation and environmental sensing to manipulation and interaction, the Husky platform empowers researchers and developers to tackle a wide array of challenges in robotics. Explore the projects below to discover how the Husky is being utilized in various domains, from academic research and industrial automation to field applications and beyond.

Robot Upgrade

Manipulators

In terms of manipulators that can be installed and integrated with your mobile platform, several recommended arms are available. Each has its own perks and limitations. The table below illustrates some of the key features of the recommended arms that can be installed with the mobile platform.

Comparative Analysis

xARM6

PANDA

UR10E

Model

xARM

PANDA

UR10E

Company

UFACTORY

FRANKA EMIKA

UNIVERSAL ROBOTS

Operation

Host PC

Host PC

Host PC

Teach Pendant

Software Development

Plug & play

Config. Req.

Config. Req.

I/O Ports

Multi

None

Multi

Sensor Integration

Available

None

Available

ROS Control

Immediate

Config. Req.

Config. Req.

Pricing

Low

High

High

Mobile Platforms

For mobile platform, several recommended mobile platforms are available. A new and interesting mobile platform that can be combined with your robot arm is the ROVO2. The table below illustrates some of the key features of the recommended mobile platforms that can be utilized.

Comparative Analysis

ROVO2

RIDGEBACK

HUSKY

WARTHOG

Model

ROVO2

Ridgeback

Husky

Warthog

Robot Weight

290 kg

135 kg

50 kg

280 kg

Payload

500 kg

100 kg

75 kg

272 kg

Operation time

8 hrs

8 hrs

8 hrs

2.5 hrs

Top Speed

20 kmhr

3.96 kmhr

3.6 kmhr

18 kmhr

Terrain Adaptability

Extreme

None

Good

Very good

Pricing

Medium

Medium

Low

High