Title :
Experiments with nonholonomic manipulation
Author :
Srinivasa, Siddharta S. ; Baker, Christopher R. ; Sacks, Elisha ; Reshko, Grigority B. ; Mason, Matthew T. ; Erdmann, Michael A.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
This paper summarizes ongoing work with a mobile manipulator (Mobipulator). We describe the system architecture of the latest version of the robot, a hierarchy of robot motion commands (the Mobipulation library) that can be snapped together to generate complicated paths easily, a configuration space planner that plans wheel motions to manipulate paper, and a visual servoing system to monitor and correct errors in robot motion.
Keywords :
hierarchical systems; manipulators; mobile robots; robot programming; robot vision; Mobipulation library; Mobipulator; configuration space planner; motion command hierarchy; nonholonomic manipulation; paper manipulation; robot motion error correction; robot motion error monitoring; system architecture; visual servoing system; wheel motions; Control systems; Libraries; Manipulators; Mobile robots; Monitoring; Orbital robotics; Robot motion; Turning; Visual servoing; Wheels;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014841
