Designing strategy and implementation of mobile manipulator control system for opening door

Keiji Nagatani, Shin'ichi Yuta

研究成果: Conference article査読

46 被引用数 (Scopus)

抄録

A goal of this research is to successfully accomplish a long distance navigation task, including 'Passing through a doorway', by an autonomous robot equipped with a manipulator. In our approach to this problem, we apply the concept of action primitives to the mobile manipulator control system. Action primitives are defined as unit elements of a complex behavior, such as door opening behavior. Basically, the action primitives control a robot according sequences of planned motion primitives. But as an important feature, each action primitive is designed with an error adjustment mechanism to cope with accumulated positioning error of the mobile base. In this paper, we report the design and implementation of action primitives for door opening behavior for our experimental robot, and show experimental results of an autonomous mobile manipulator's 'Passing through a doorway' using sequences of designed action primitives.

本文言語English
ページ(範囲)2828-2834
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版ステータスPublished - 1996 1 1
外部発表はい
イベントProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
継続期間: 1996 4 221996 4 28

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学

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