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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

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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.

BibTeX Reference
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},