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 com...
Siddhartha S. Srinivasa, Christopher R. Baker, Eli...
Abstract— We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approac...
In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactua...
Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables the ng...