Home/Experiments with nonholonomic manipulation

Experiments with nonholonomic manipulation

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

Download Publication (PDF)

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.

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 Reference
@conference{Srinivasa-2002-8420,
title = {Experiments with nonholonomic manipulation},
author = {Siddhartha Srinivasa and Christopher R. Baker and Elisha Sacks and Grigoriy Reshko and Matthew T. Mason and Michael Erdmann},
booktitle = {Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02)},
keyword = {Mobile Manipulation, Desktop Robotics, Visual Servoing, Path Planning},
publisher = {IEEE},
school = {Robotics Institute , Carnegie Mellon University},
month = {May},
year = {2002},
volume = {2},
pages = {2042 - 2047},
address = {Pittsburgh, PA},
}
2017-09-13T10:45:15+00:00