Frankie is a mobile manipulator developed by the QUT Centre for Robotics consisting of a 7 degree-of-freedom Franka Emika Panda manipulator coupled to an Omron LD-60 mobile base.
ROS control of the Panda manipulator is provided by the Panda version of the Armer Driver, and control of the mobile base is provided by the OMRON ROS Robot Driver.
Frankie is available in the Robotics Toolbox for Python and the accompanying Swift simulation environment.
A Fusion 3D model is available here (91MB)
Frankie has been used in the following publications:
- J. Haviland, N. Sünderhauf, and P. Corke, "A holistic approach to reactive mobile manipulation," IEEE Robotics and Automation Letters, 2022.
Would be good to put on https://github.com/qcr/qcr.github.io as well.