DocumentCode
2233627
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
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
268
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241607
Filename
1241607
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