Experiments with Nonholonomic Manipulation

15 years 3 months ago

Download www.cs.cmu.edu

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

Real-time Traffic

Conﬁguration Space Planner | ICRA 2002 | Mobile Manipulator | Robot Motion | Robotics |

claim paper

» Pivoting based manipulation by a humanoid robot

» Kinematic Modelling of Wheeled Mobile Manipulators

» A New Method of Executing Multiple Auxiliary Tasks by Redundant Nonholonomic Mobile Manipu...

» Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels

» Kinematic Modeling and Redundancy Resolution for Nonholonomic Mobile Manipulators

» Nonholonomic Motion Planning for Mobile Manipulators

» Robust adaptive control of uncertain forcemotion constrained nonholonomic mobile manipulat...

» On Path Planning and Obstacle Avoidance for Nonholonomic Platforms with Manipulators

Post Info
More Details (n/a)

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

Comments (0)

Sciweavers

Experiments with Nonholonomic Manipulation

Conﬁguration Space Planner | ICRA 2002 | Mobile Manipulator | Robot Motion | Robotics |

Explore & Download

Productivity Tools

Document Tools

Image Tools

Sciweavers