TY - GEN
T1 - Motion design for autonomous mobile manipulator based on programming style "action primitive"
AU - Nagatani, K.
AU - Tanaka, Y.
N1 - Publisher Copyright:
© 2000 IEEE.
PY - 2000
Y1 - 2000
N2 - Our research goal is to realize an intelligent autonomous motion for a mobile manipulator. A model task for mobile manipulators, "returning books to bookshelf" was chosen as our research task. To realize the task, we adopt a programming style named "action primitive" for programming the robot controller. Each action primitive is a basic motion control program, and the whole motion of the robot is generated by executing a sequence of action primitives step by step. The paper describes motion design for the above research task based on the action primitive concept, and reports simulation results of the designed motion.
AB - Our research goal is to realize an intelligent autonomous motion for a mobile manipulator. A model task for mobile manipulators, "returning books to bookshelf" was chosen as our research task. To realize the task, we adopt a programming style named "action primitive" for programming the robot controller. Each action primitive is a basic motion control program, and the whole motion of the robot is generated by executing a sequence of action primitives step by step. The paper describes motion design for the above research task based on the action primitive concept, and reports simulation results of the designed motion.
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U2 - 10.1109/IECON.2000.973183
DO - 10.1109/IECON.2000.973183
M3 - Conference contribution
AN - SCOPUS:84969160327
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 399
EP - 404
BT - IECON Proceedings (Industrial Electronics Conference)
PB - IEEE Computer Society
ER -