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A mobile manipulator is composed of heterogeneous resources (mobile base, manipulator, etc.). Consequently, each resource can carry out a different set of operations. In the case where each resource is controlled by an agent (so a multi-agent control architecture), a multi-agent heterogeneous planning is required to generate the operations plan. When the operator of the robot introduces a mission,...
This paper presents control and implementation of the mobile manipulator with balancing mechanism whose goal is to serve human being in home environment. The mobile manipulator has two arms to handle objects. Not only position control but also force control of the balancing service robot is presented. The robot has two modes to move : mobile robot mode with 4 contact points and balancing mode of 2...
A number of mobile manipulators have been custom engineered and built in labs worldwide. Mobile manipulators could become much more prevalent if they were assembled from commercially available components instead of being locally engineered and built. In this paper, we describe some tests and the integration steps in putting together power source, computers, and distributed software systems for integrating...
Computing a motion that enables a mobile manipulator to open a door is challenging because it requires tight coordination between the motions of the arm and the base. Hard-coding the motion, on the other hand, is infeasible since doors vary widely in their sizes and types, some doors are opened by pulling and others by pushing, and indoor spaces often contain obstacles that limit the freedom of the...
In this paper, we study the problem of door-opening by using a modular re-configurable robot (MRR) mounted on a tracked mobile platform. The main concern of opening a door is how to prevent the internal forces that occur because of the positioning error or the imprecise modeling of the environment, i.e., the door parameters. Most previous research is based on compliant control, which makes the control...
This paper presents a trajectory planning methodology for a mobile manipulator whose end-effector has to follow a predefined operational trajectory while considering obstacles in its environment. The robot is controlled by a multi-agent architecture that consists of six agents: Four agents are installed on an off-board PC and two others installed on the onboard PC of the robot. The validity of the...
The importance of the robots for home, public places and many other places are increasing. In order to realize autonomous work in such dynamic and unknown environment, recognizing external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor...
A constraint-based behavior fusion mechanism is proposed. The behavior-based concept is suitable for robots in a dynamic changing environment. However, this concept suffers from two major restrictions: re-usability of the behaviors and deliberation between the behaviors. Because of this, complex tasks are still challenging for behavior-based systems. In the control of sensor-based robots, the constraint-based...
Integrating autonomic computing concept into the behavior-based architecture enhances the abilities of mobile robots to operate in dynamically changing environment. The constraint-based behavior fusion mechanism provides a proper fusion solution for different behaviors and a unified entry point for autonomic computing components (ACC). This design philosophy distributes the responsibilities of task...
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