Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario
Author
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.
Department/s
Publishing year
2012
Language
English
Pages
1596-1602
Publication/Series
[Host publication title missing]
Full text
Document type
Conference paper
Publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
Topic
- Control Engineering
Conference name
2012 IEEE Multi-Conference on Systems and Control
Conference date
2012-10-03
Conference place
Dubrovnik, Croatia
Status
Published
Project
- ENGROSS
Research group
- LCCC
ISBN/ISSN/Other
- ISSN: 1085-1992