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Experiments with nonholonomic manipulation
S. Srinivasa, C. Baker, E. Sacks, G. Reshko, M. Mason, and M. Erdmann
Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), IEEE, Vol. 2, May, 2002, pp. 2042 - 2047.

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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.

Associated lab/group: Manipulation Lab
Associated project: Desktop Robotics

Number of pages: 6

S. Srinivasa, C. Baker, E. Sacks, G. Reshko, M. Mason, and M. Erdmann, "Experiments with nonholonomic manipulation," Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), IEEE, Vol. 2, May, 2002, pp. 2042 - 2047.

@inproceedings{Srinivasa_2002_3941,
   author = "Siddhartha Srinivasa and Christopher Baker and Elisha Sacks and Grigoriy Reshko and Matthew Mason and Michael Erdmann",
   title = "Experiments with nonholonomic manipulation",
   booktitle = "Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02)",
   month = "May",
   year = "2002",
   volume = "2",
   pages = "2042 - 2047",
   publisher = "IEEE"
}