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Carnegie Mellon Robotics Institute

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Abstract

This paper summarizes ongoing work with a mobile manipulator (Mobipulator). We describe the system architectire 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.

Keywords

Mobile Manipulation, Desktop Robotics, Visual Servoing, Path Planning

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Manipulation Lab

Associated Project(s): Desktop Robotics

Number of pages: 6

Text Reference

Siddhartha Srinivasa, Christopher R. Baker , Elisha Sacks, Grigoriy Reshko, Matthew T. Mason, and Michael Erdmann, "Experiments with nonholonomic manipulation," Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 2042 - 2047.

BibTeX Reference

@inproceedings{Srinivasa_2002_3941,
   author = "Siddhartha Srinivasa and Christopher R. {Baker } and Elisha Sacks and Grigoriy Reshko and Matthew T. Mason and Michael Erdmann",
   title = "Experiments with nonholonomic manipulation",
   booktitle = "Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02)",
   pages = "2042 - 2047",
   publisher = "IEEE",
   month = "May",
   year = "2002",
   volume = "2",
}

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