Experiments with Desktop Mobile Manipulators

This paper describes our work on Desktop Robotics. The main focus is two robots that locomote and manipulate paper on a desktop. One robot uses wheels for both manipulation and locomotion. The other robot uses wheels for locomotion and a sticky foot to lift and carry pieces of paper. We outline the goals of our work on desktop robotics, describe the design of the robots built so far, present experimental data, and outline some of the issues for future work.