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Motion planning for Mobile Manipulator to Pick up an Object while Base Robot's Moving

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3 Author(s)
Wanli Shan ; The Graduate School of Natural Science and Technology, Okayama University 3-1-1 Tsushima-naka Okayama 700-8530, Japan, Email: shan@usm.sys.okayama-u.ac.jp ; K. Nagatani ; Y. Tanaka

Our research goal is to realize a motion planning for an intelligent mobile manipulator to pick up an object while the mobile base is moving. This motion is very easy for human. However, it includes many technical challenges for robotic research. In this research, we propose a motion planning method for a mobile manipulator with considering the manipulator's manipulability. In this paper, we describe our motion planning algorithm and introduce a performance of planned motion using three dimensional motion simulator and our actual mobile manipulator

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004