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Constrained path planning and task-consistent path adaptation for mobile manipulators
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2005 (English)In: 2005 12th International Conference on Advanced Robotics, 2005, 268-273 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents our ongoing research in the design of a versatile service robot capable of operating in a home or office environment. Ideas presented here cover architectural issues and possible applications for such a robot system with focus on tasks requiring constrained end-effector motions. Two key components of such system is a path planner and a reactive behavior capable of force relaxation and path adaptation. These components are presented in detail along with an overview of the software architecture they fit into.

Place, publisher, year, edition, pages
2005. 268-273 p.
Series
2005 12th International Conference on Advanced Robotics
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-42821DOI: 10.1109/ICAR.2005.1507423ISI: 000234272400041Scopus ID: 2-s2.0-33749076636ISBN: 0-7803-9177-2 (print)OAI: oai:DiVA.org:kth-42821DiVA: diva2:447571
Conference
12th International Conference on Advanced Robotics Location: Seattle, WA Date: JUL 17-20, 2005
Note
QC 20111012Available from: 2011-10-12 Created: 2011-10-12 Last updated: 2011-10-12Bibliographically approved

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CiteExportLink to record
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Citation style
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