Title :
Behavior-based mobile manipulation inspired by the human example
Author :
Waarsing, B.J.W. ; Nuttin, M. ; Van Brussel, H.
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium
Abstract :
This paper presents our approach to extending the niche of behavior-based robotics to manipulation. We use results from neuroscience to define the basic behaviors of the manipulator. Furthermore, we derive some qualitative design rules for the mechanics of the manipulator. With these principles, we have designed a first demo application: writing on a board with a mobile manipulator.
Keywords :
biocybernetics; control system synthesis; feedforward; learning by example; manipulator kinematics; mobile robots; behavior-based mobile manipulation; behavior-based robotics; human example; manipulator mechanics; qualitative design rules; writing on board; Biological control systems; Feedback control; Humans; Manipulators; Mobile robots; Navigation; Neuroscience; Robust stability; Shape control; Writing;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241607
