Title :
Behavior-based mobile manipulation for drum sampling
Author :
MacKenzie, Douglas C. ; Arkin, Ronald C.
Author_Institution :
Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
This paper describes an implementation of a behavior-based mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstructured environments. A major contribution of the project was the coherent integration of the arm and base as a cohesive unit, and not just a mobile base with an arm attached. The support for smooth simultaneous operation of all joints on the vehicle facilitated biologically plausible motions, such as arm preshaping. The behavior-based controller used a pseudo-force model, where behaviors add forces and torques to joints and limbs resulting in coordinated motion. The vehicle Jacobian is used to convert the pseudo-forces into joint torques and a pseudo-damping model converts the joint torques into joint velocities. This process allows rapid control of the manipulator without the use of inverse kinematics. A drum sampling task is presented where the vehicle demonstrates how a sample of material could be moved from one drum to another, illustrating the efficacy of the solution
Keywords :
Jacobian matrices; damping; manipulators; materials handling; mobile robots; motion control; object recognition; robot vision; Jacobian matrix; behavior-based mobile manipulator; coordinated motion control; drum sampling; joint torques; joint velocities; pseudo-damping model; pseudo-force model; sample transferring; Biological system modeling; Cameras; Manipulators; Mobile robots; Motion control; Robot vision systems; Sampling methods; Service robots; Vehicles; Wrist;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506521