Experiments with nonholonomic manipulation

Siddhartha S. Srinivasa,Christopher R. Baker,Elisha Sacks,Grigoriy B. Reshko,Matthew T. Mason,Michael Erdmann

ICRA（2002）

引用 16|浏览24

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摘要

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.

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关键词

motion command hierarchy,configuration space planner,robot motion error monitoring,wheel motions,hierarchical systems,mobipulator,mobile robots,system architecture,visual servoing system,robot programming,paper manipulation,robot motion error correction,manipulators,nonholonomic manipulation,mobipulation library,robot vision,configuration space,visual servoing,control systems

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