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

Takayasu Takahama, Keiji Nagatani, Yutaka Tanaka

Research output: Contribution to journalConference articlepeer-review

18 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)4338-4343
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number5
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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