{"id":20947,"date":"2026-09-28T16:10:30","date_gmt":"2026-09-28T08:10:30","guid":{"rendered":"https:\/\/cde.nus.edu.sg\/edic\/?page_id=20947"},"modified":"2026-09-29T09:00:57","modified_gmt":"2026-09-29T01:00:57","slug":"mobile-manipulator-hub","status":"publish","type":"page","link":"https:\/\/cde.nus.edu.sg\/edic\/projects\/innovations-in-intelligent-systems\/mobile-manipulator-hub\/","title":{"rendered":"Industrial mobile manipulator for Innovation &amp; Design Hub"},"content":{"rendered":"\n<h2>\n\t\t\tIndustrial mobile manipulator for Innovation &amp; Design Hub\t<\/h2>\n<figure>\n\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/cde.nus.edu.sg\/edic\/wp-content\/uploads\/sites\/37\/2026\/09\/DSC01136.png\" alt=\"DSC01136\" height=\"1352\" width=\"2016\" title=\"DSC01136\" loading=\"lazy\" \/>\n\t<\/figure>\n\t<p>The CDE Innovation and Design Hub is a busy student workspace where staff frequently support activities such as equipment and material collection. Repetitive pick-up and delivery tasks can take up valuable staff time, particularly during peak periods. To address this challenge, the project team developed an <strong>industrial mobile manipulator<\/strong> designed to automate logistical tasks within the Hub. CDE4301-industrial-manipulator<\/p>\n<p>The solution combines a <strong>Mitsubishi Electric RV-5AS collaborative robot<\/strong> with a <strong>Sesto Magnus Lite autonomous mobile robot (AMR)<\/strong>, enabling the system to navigate around the Hub and manipulate objects. Computer vision using <strong>YOLOv8<\/strong> and depth feedback supports object detection and pick-and-place operations, while a custom electric tool-changing system allows the robot to automatically switch between different end effectors. The system also incorporates ROS2 integration and a user interface for operation and control.<\/p>\n<p>By bringing together <strong>robotics, computer vision, mechanical design, electronics and software integration<\/strong>, the project demonstrates how autonomous mobile manipulation can streamline routine operations and reduce the workload on Hub staff, freeing them to focus on supporting students and other higher-value activities.<\/p>\n<a href=\"https:\/\/jh22zh.github.io\/ASI_404_Final_Report\/\" target=\"_self\">Find out more about this project!<\/a>\n\t<h3>Project Team<\/h3>\n<h4>Students:<\/h4>\n<ul>\n<li>Jason Ho (Mechanical Engineering, Class of 2026)<\/li>\n<li>Quek Fang Chen (Mechanical Engineering, Class of 2026)<\/li>\n<\/ul>\n<h4>Supervisors:<\/h4>\n<ul>\n<li>Mr Nicholas Chew (<a href=\"mailto:nickchew@nus.edu.sg\">nickchew@nus.edu.sg<\/a>)<\/li>\n<li>Mr Graham Zhu (<a href=\"mailto:graham.zhu@nus.edu.sg\">graham.zhu@nus.edu.sg<\/a>)<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/cde.nus.edu.sg\/edic\/wp-content\/uploads\/sites\/37\/2026\/09\/DSC01156-1024x684.png\" alt=\"\" width=\"1024\" height=\"684\" \/><\/p>\n<figure>\n\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/cde.nus.edu.sg\/edic\/wp-content\/plugins\/bb-plugin\/img\/pixel.png\" alt=\"\" loading=\"lazy\" \/>\n\t<\/figure>\n\n","protected":false},"excerpt":{"rendered":"<p>Industrial mobile manipulator for Innovation &amp; Design Hub The CDE Innovation and Design Hub is a busy student workspace where staff frequently support activities such as equipment and material collection. Repetitive pick-up and delivery tasks can take up valuable staff time, particularly during peak periods. To address this challenge, the project team developed an industrial [&hellip;]<\/p>\n","protected":false},"author":171,"featured_media":0,"parent":20,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"rs_blank_template":"","rs_page_bg_color":"","slide_template_v7":"","site-sidebar-layout":"default","site-content-layout":"default","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"disabled","ast-breadcrumbs-content":"","ast-featured-img":"disabled","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"default","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"class_list":["post-20947","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/20947","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/users\/171"}],"replies":[{"embeddable":true,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/comments?post=20947"}],"version-history":[{"count":4,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/20947\/revisions"}],"predecessor-version":[{"id":20987,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/20947\/revisions\/20987"}],"up":[{"embeddable":true,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/20"}],"wp:attachment":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/media?parent=20947"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}