TOMM (Tactile Omnidirectional Mobile Manipulator) is a dual arm wheeled humanoid robot with 6 DoF on each arm, 4 omnidirectional wheels and 2 interchangeable end-effectors.
The main feature of TOMM is its arms and hands which are covered with artificial skin developed in TUM’s research lab. We built this robot to be a cost-efficient research platform with two standard UR5 manipulators.
What Bren did
Some pictures of TOMM being made. We produced 5 bases in total that were also used in the University of Bremen, Germany.