Experiments with nonholonomic manipulation

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


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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",
}