Motion planning for mobile manipulator to pick up an object while base robot's moving

Wanli Shan, Keiji Nagatani, Yutaka Tanaka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004
Pages350-355
Number of pages6
Publication statusPublished - 2004 Dec 1
Externally publishedYes
EventProceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004 - Shenyang, China
Duration: 2004 Aug 222004 Aug 26

Other

OtherProceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004
CountryChina
CityShenyang
Period04/8/2204/8/26

ASJC Scopus subject areas

  • Engineering(all)

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