Motion planning for dual-arm mobile manipulator - realization of "tidying a room motion"

When a mobile robot executes a given task in human-robot co-existence environment, it is necessary for the robot to perform robust motions and to have abilities to deal with unforeseen situations. Therefore we aim to realize an intelligent and robust motion for a dual-arm mobile manipulator. To carr...

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Bibliographic Details
Published inIEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Vol. 5; pp. 4338 - 4343 Vol.5
Main Authors Takahama, T., Nagatani, K., Tanaka, Y.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Applied sciences
Computer science; control theory; systems
Concrete
Control theory. Systems
Exact sciences and technology
Intelligent robots
Manipulators
Mobile robots
Motion planning
Orbital robotics
Production facilities
Robotics
Robustness
Technology planning
Human
Gripping
Gripper
Moving robot
Planning
Arm
Motion control
Robotics
Manipulator
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Summary:When a mobile robot executes a given task in human-robot co-existence environment, it is necessary for the robot to perform robust motions and to have abilities to deal with unforeseen situations. Therefore we aim to realize an intelligent and robust motion for a dual-arm mobile manipulator. To carry out a research of intelligent motion, we set a concrete task as "grasping a book and returning it to a bookshelf". In this task, a path of an end-effector that grasps a book should be planned according to the book's position. A motion of returning a book also requires confirming return position and planning manipulator's motion. In this paper, we introduce our motion planning algorithm for a dual-arm mobile manipulator, and shows an example of integrated motion of "tidying a room" task.
ISBN:9780780382329
0780382323
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1302400