Experiments with nonholonomic manipulation
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 2042 - 2047, May, 2002
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.
BibTeX
@conference{Srinivasa-2002-8420,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 (ICRA) International Conference on Robotics and Automation},
year = {2002},
month = {May},
volume = {2},
pages = {2042 - 2047},
publisher = {IEEE},
keywords = {Mobile Manipulation, Desktop Robotics, Visual Servoing, Path Planning},
}
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