Experiments with Nonholonomic Manipulation

10 years 3 months ago
Experiments with Nonholonomic Manipulation
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.
Siddhartha S. Srinivasa, Christopher R. Baker, Eli
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Siddhartha S. Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy B. Reshko, Matthew T. Mason, Michael A. Erdmann
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