Here is an omnidirectional platform that can move manipulators and heavy payloads easily. Ridgeback comes with an onboard computer, front and rear laser scanners, and an IMU. It has Mecanum wheels and high resolution encoder for higher degree of maneuverability.
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Ballroom Dancing with Baxter & Ridgeback Omnidirectional Platform
Ridgeback relies on its LiDAR to operate autonomously and avoid collisions. It is only 11in tall and fits through standard doors. As the above video shows, this platform can be paired with a Baxter robot for a dance.
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