Motion planning for a mobile manipulator based on joint motions for error recovery

Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper describes motion planning for a mobile manipulator which works in real environment. Mobile manipulators that can manipulate an object was developed up to now. We assume that object grasping is not restricted to just one grasp way and robot can move freely as far as it is in its operational area of the object. This paper proposes the motion planning for object grasping under the previous explained conditions. There are two major issues to detect the robot pose. The first problem is pose error of the robot hand. The second problem is kinematical redundancy of the mobile manipulator. The pose is evaluated from the amount of joint motions for recovery of hand pose error. Experiments show the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages7-12
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Motion planning for a mobile manipulator based on joint motions for error recovery'. Together they form a unique fingerprint.

  • Cite this

    Yamazaki, K., Tomono, M., Tsubouchi, T., & Yuta, S. (2006). Motion planning for a mobile manipulator based on joint motions for error recovery. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 7-12). [4058533] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281857