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A hybrid control architecture for mobile manipulation

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3 Author(s)
Petersson, L. ; R. Inst. of Technol., Stockholm, Sweden ; Egerstedt, M. ; Christensen, H.I.

We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our suggested MMCA is designed in such a way that it supports design and performance analysis from both a manipulator dynamics and a hybrid automata perspective

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

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