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Autonomous Coordinated Motion and Mobility (ACMM)
Head: Alonzo Kelly
Contact: Alonzo Kelly
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Ave
Pittsburgh, PA 15213
Overview
The ACMM (Autonomous Coordinated Motion and Mobility) project integrates and develops controls for more efficient supervised teleoperation of mobile manipulators. The integration of task-space, view referenced, and differential controls into mobile manipulators reduce operator workload, error rates, and learning curves while enabling precise positioning. Coordinated mobility and manipulation planning algorithms automatically generates controls for both base and manipulator motions, which move in concert to achieve the target end effector pose. The experimental platform for the project consisted of a modified LAGR mobile robot outfitted with a five degree-of-freedom manipulator.