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Constrained path planning and task-consistent path adaptation for mobile manipulators
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0003-2965-2953
2005 (engelsk)Inngår i: 2005 12th International Conference on Advanced Robotics, 2005, s. 268-273Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
2005. s. 268-273
Serie
2005 12th International Conference on Advanced Robotics
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-42821DOI: 10.1109/ICAR.2005.1507423ISI: 000234272400041Scopus ID: 2-s2.0-33749076636ISBN: 0-7803-9177-2 (tryckt)OAI: oai:DiVA.org:kth-42821DiVA, id: diva2:447571
Konferanse
12th International Conference on Advanced Robotics Location: Seattle, WA Date: JUL 17-20, 2005
Merknad
QC 20111012Tilgjengelig fra: 2011-10-12 Laget: 2011-10-12 Sist oppdatert: 2011-10-12bibliografisk kontrollert

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