Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario
Författare
Summary, in English
An omni-directional mobile robot together with a new type of kinematically redundant manipulator for future use as a service robot for grocery stores is proposed. The scenario is that of distributing groceries on refilling shelves, and a constraint- based task specification methodology to incorporate sensors and geometric uncertainties into the task is employed. Sensor fusion is used to estimate the pose of the mobile base online. Force sensors are utilized to resolve remaining uncertainties. The approach is verified with experiments.
Avdelning/ar
Publiceringsår
2012
Språk
Engelska
Sidor
1596-1602
Publikation/Tidskrift/Serie
[Host publication title missing]
Fulltext
Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Conference name
2012 IEEE Multi-Conference on Systems and Control
Conference date
2012-10-03
Conference place
Dubrovnik, Croatia
Status
Published
Projekt
- ENGROSS
Forskningsgrupp
- LCCC
ISBN/ISSN/Övrigt
- ISSN: 1085-1992