Experiments with nonholonomic manipulation

Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann
Conference Paper, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 2042 - 2047, May, 2002

View Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


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.

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)},
year = {2002},
month = {May},
volume = {2},
pages = {2042 - 2047},
publisher = {IEEE},
keywords = {Mobile Manipulation, Desktop Robotics, Visual Servoing, Path Planning},
} 2017-09-13T10:45:15-04:00