By Topic

Motion planning for dual-arm mobile manipulator - realization of "tidying a room motion"

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Takahama, T. ; Graduate Sch. of Natural Sci. & Technol., Okayama Univ., Japan ; Keiji Nagatani, ; Tanaka, Y.

When a mobile robot executes a given task in human-robot co-existence environment, it is necessary for the robot to perform robust motions and to have abilities to deal with unforeseen situations. Therefore we aim to realize an intelligent and robust motion for a dual-arm mobile manipulator. To carry out a research of intelligent motion, we set a concrete task as "grasping a book and returning it to a bookshelf". In this task, a path of an end-effector that grasps a book should be planned according to the book's position. A motion of returning a book also requires confirming return position and planning manipulator's motion. In this paper, we introduce our motion planning algorithm for a dual-arm mobile manipulator, and shows an example of integrated motion of "tidying a room" task.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004