Mobile manipulation: a challenge in integration

Cressel Anderson; Ben Axelrod; J. Philip Case; Jaeil Choi; Martin Engel; Gaurav Gupta; Florian Hecht; John Hutchinson; Niyant Krishnamurthi; Jinhan Lee; Hai Dai Nguyen; Richard Roberts; John G. Rogers; Alexander J. B. Trevor; Henrik I. Christensen; Charles Kemp

doi:10.1117/12.777329

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16 April 2008 Mobile manipulation: a challenge in integration

Cressel Anderson, Ben Axelrod, J. Philip Case, Jaeil Choi, Martin Engel, Gaurav Gupta, Florian Hecht, John Hutchinson, Niyant Krishnamurthi, Jinhan Lee, Hai Dai Nguyen, Richard Roberts, John G. Rogers, Alexander J. B. Trevor, Henrik I. Christensen, Charles Kemp

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Proceedings Volume 6962, Unmanned Systems Technology X; 69620L (2008) https://doi.org/10.1117/12.777329
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

Mobile manipulation in many respects represents the next generation of robot applications. An important part of design of such systems is the integration of techniques for navigation, recognition, control, and planning to achieve a robust solution. To study this problem three different approaches to mobile manipulation have been designed and implemented. A prototypical application that requires navigation and manipulation has been chosen as a target for the systems. In this paper we present the basic design of the three systems and draw some general lessons on design and implementation.

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Cressel Anderson, Ben Axelrod, J. Philip Case, Jaeil Choi, Martin Engel, Gaurav Gupta, Florian Hecht, John Hutchinson, Niyant Krishnamurthi, Jinhan Lee, Hai Dai Nguyen, Richard Roberts, John G. Rogers, Alexander J. B. Trevor, Henrik I. Christensen, and Charles Kemp "Mobile manipulation: a challenge in integration", Proc. SPIE 6962, Unmanned Systems Technology X, 69620L (16 April 2008); https://doi.org/10.1117/12.777329

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