Experiments with Nonholonomic Manipulation

This paper summarizes ongoing work with a mobile manipulator (Mobipulator). We describe the system architecture 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.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Siddhartha S. Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy B. Reshko, Matthew T. Mason, Michael A. Erdmann
• Keywords: Configuration Space Planner, ICRA 2002, Mobile Manipulator, Robot Motion, Robotics