CasterMoma Mobile ManipulatorIQR CasterMoma

Name: IQR CasterMoma
Brand: IQR Robotics

Standard

Industrial

Service

CasterMoma is a general-purpose mobile manipulation research platform that IQR began developing in 2018, brought to market in 2020, and discontinued in 2024. Built on ROS, it integrates a Caster mobile base, Kinova arm, lifting torso, and pan-tilt camera. As IQR's first fully self-developed robot, it validated our mobile manipulation integration capabilities despite not reaching mass production due to manufacturing process challenges — a memorable milestone that laid the foundation for BoosterMoma and beyond.

System Configuration

Mobile Base	Caster
Robotic Arm	Kinova series with end-effector vision
Robot Torso	IQR-Torso
Head Pan-Tilt Camera	IQR-Kinect-Pantilt
Accessories	Remote E-Stop, Touch Screen HMI

Overall Specifications

Speed	Max 1.5m/s, recommended <1m/s
DoF	Mobile 2 + Lift 1 + Pan-Tilt 2 + Arm 6~7
Communication	TCP/IP
OS	ROS

Subsystem Specifications

Mobile Base - Caster

Dimensions	550×550×300mm
Weight	~50kg
Payload	70kg
Max Speed	2.0m/s
Battery	24V 40Ah Li-ion (hot-swappable)
Runtime	5H typical, >10H standby
IPC	i5-10210U, 8GB RAM, 128GB SSD
LiDAR	HOKUYO UST-20LX + RPlidar A2
IMU	9-axis IMU
Ultrasonic	4 sensors (2 front, 2 rear)

Lifting Mechanism - IQR-Torso

Lift Height	360mm
Max Load	30kg
Max Speed	100mm/s
Absolute Accuracy	0.1mm
Relative Accuracy	0.01mm

Pan-Tilt Head

Dimensions	≤300×85×175mm
Weight	≤1.8kg
Control	ROS, C API
Precision	≤0.015°
Range	Pan 100°, Tilt 100°

Gallery

Applications — UV Disinfection / Mobile Grasping

Documentation

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