Coordinated Control and Range Imaging for Mobile Manipulation

Anderson, D.M.; Howard, Thomas M.; Apfelbaum, David; Herman, Herman; Kelly, Alonzo

doi:10.1007/978-3-642-00196-3_63

Cited by 7 publications

(5 citation statements)

References 9 publications

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“…θ l,wheel =θ l,wheel t. (24) Being able to find the mobile base's position based on its wheel velocities, allows for the new wrist center position ( W P x,wc,var , W P y,wc,var ) to be found. Figure 8 illustrates how this new wrist center position is found.…”

Section: Optimizationmentioning

confidence: 99%

“…Anderson et al 9 also took this approach. Shin et al 10 implemented a system where an end-effector trajectory is specified and the mobile base only moves once the trajectory of the manipulator is out of reach.…”

Section: Introductionmentioning

confidence: 97%

“…Takubo et al 8 developed a control scheme for a mobilemanipulator system through the use of a virtual impedance wall. Anderson et al 9 also took this approach. Shin et al 10 implemented a system where an end-effector trajectory is specified and the mobile base only moves once the trajectory of the manipulator is out of reach.…”

Section: Introductionmentioning

confidence: 99%

“…In this way, the MHI provided force feedback, with the position of the haptic devices remaining relatively constant with respect to the mobile base. Anderson et al 24 proposed and implemented an innovative type of control for mobile manipulation using two cameras and a Laser Detection and Ranging (LADAR) device. To navigate, a user picked a point on the image feed from the camera.…”

Section: Introductionmentioning

confidence: 99%

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A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use

Frejek

Nokleby

2012

Robotica

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An algorithm for the tele-operation of mobile-manipulator systems with a focus on ease of use for the operator is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators. It consists of three states. In the first state, a single 6-degrees-offreedom (DOF) joystick is used to control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, resulting in the mobile base moving in a manner so as to keep the end-effector travelling in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is entered when the operator returns the joystick to the home position. Both the mobile base and manipulator move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The algorithm has been implemented on an 8-DOF mobile manipulator and the test results show that it is effective at moving the system in an intuitive manner.

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Section: Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use

Frejek

Nokleby

2012

Robotica

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“…PG sensing was originally motivated by its capacity to disambiguate natural obstacles and non-obstacles of the same shape (such as a rock and a bush (Dima et al 2004)) by examining their color signatures ( Figure 6). Once we had such data available for use in autonomy, we began to produce specialized point cloud displays, and we quickly recognized the potential of the PG data for human interfaces (Anderson et al 2008). A key difficulty in producing geometrically consistent datasets is the matter of accounting for the motion of the lidar during the sweep of its scanning mechanism over the terrain.…”

Section: Precision Timekeeping and Pose Tags For Moving Sensorsmentioning

confidence: 99%

Real-time photorealistic virtualized reality interface for remote mobile robot control

Kelly

Chan

Herman

et al. 2010

The International Journal of Robotics Research

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The task of teleoperating a robot over a wireless video link is known to be very difficult. Teleoperation becomes even more difficult when the robot is surrounded by dense obstacles, or speed requirements are high, or video quality is poor, or wireless links are subject to latency. Due to high quality lidar data, and improvements in computing and video compression, virtualized reality has the capacity to dramatically improve teleoperation performance -even in high speed situations that were formerly impossible. In this paper, we demonstrate the conversion of dense geometry and appearance data, generated on-the-move by a mobile robot, into a photorealistic rendering database that gives the user a synthetic exterior line-of-sight view of the robot including the context of its surrounding terrain. This technique converts remote teleoperation into line-of-sight remote control. The underlying metrically consistent environment model also introduces the capacity to remove latency and enhance video compression. Display quality is sufficiently high that the user experience is similar to driving a video game where the surfaces used are textured with live video.

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TRADR Project: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response

et al. 2015

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This paper contains a description of the project TRADR: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response. As robotic disaster relief systems are still scarce, any incident serious enough to render robot involvement will most likely involve a sequence of sorties over several hours, days and even months. TRADR focuses on the persistence of environment models, multi-robot action models, and human-robot teaming, in order to allow incremental capability improvement over the duration of a mission. TRADR applies a user centric design approach to disaster response robotics, with use cases involving the response to a medium to large scale industrial accident by teams consisting of human rescuers and several robots (both ground and airborne). The paper overviews the project objectives and motivation, the structure and approach, as well as the partners and related work.Keywords disaster response robotics · persistent environment models · persistent multi-robot action models · persistent human-robot teaming · user-centric design

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Coordinated Control and Range Imaging for Mobile Manipulation

Cited by 7 publications

References 9 publications

A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use

A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use

Real-time photorealistic virtualized reality interface for remote mobile robot control

TRADR Project: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response

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