Constrained path planning and task-consistent path adaptation for mobile manipulators
2005 (English)In: 2005 12th International Conference on Advanced Robotics, 2005, 268-273 p.Conference paper (Refereed)
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.
, 2005 12th International Conference on Advanced Robotics
IdentifiersURN: urn:nbn:se:kth:diva-42821DOI: 10.1109/ICAR.2005.1507423ISI: 000234272400041ScopusID: 2-s2.0-33749076636ISBN: 0-7803-9177-2OAI: oai:DiVA.org:kth-42821DiVA: diva2:447571
12th International Conference on Advanced Robotics Location: Seattle, WA Date: JUL 17-20, 2005
QC 201110122011-10-122011-10-122011-10-12Bibliographically approved