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

Takahama, T.; Nagatani, Keiji; Tanaka, Yutaka

doi:10.1109/robot.2004.1302400

Cited by 16 publications

(14 citation statements)

References 11 publications

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“…Researchers have evaluated their control system, intelligent system or teaching system with applying their method to a single daily task in real environment [5], [7], [9], [16]. In the viewpoint of system integration, Petersson [15] et.…”

Section: Related Work and Our Approachmentioning

confidence: 99%

System integration of a daily assistive robot and its application to tidying and cleaning rooms

Yamazaki

Ueda

Nozawa

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper describes a software system integration of daily assistive robots. Several tasks related to cleaning and tidying up rooms are focused on. Recognition and motion generation functions needed to perform daily assistance are developed, and these functions are used to design various behaviors involved in daily assistance. In our approach, the robot behaviours are divided into simple units which consist of 3 functions as check/plan/do, it provides us with high reusable and flexible development environment. Because sequential task execution can be achieved only after functions about failure detection and recovery, we also try to implement such functions in keeping with this approach. In addition to using simple behavior unit, multilayer error handling is effective. Experiments doing several daily tasks with handling daily tools showed the effectiveness of our system.

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Section: Related Work and Our Approachmentioning

confidence: 99%

System integration of a daily assistive robot and its application to tidying and cleaning rooms

Yamazaki

Ueda

Nozawa

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…A system integration aspect of mobile manipulation was recently presented by L. Petersson [5] , where the components of the PNP operation are rigorously treated to find optimal order of execution. T. Takahama presented motion planning and system integration algorithms for a mobile robot with dual manipulators for the specific task of arranging books in a bookcase [6] .…”

Section: Introduction1 )mentioning

confidence: 99%

Pose Selection of a Mobile Manipulator for a Pick and Place Task

Cho¹

2011

The Journal of Korea Robotics Society

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A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pickand-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulations

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“…Due to its moving base and versatile manipulability, this robotic system has much more potential and flexibility than other types of robots (including fixed-base manipulator and mobile robots). Recently, mobile manipulators have attracted considerable attention in the robotic and control communities [1][2][3][4][5][6][7][8][9][10], and have also been successfully implemented in a variety of tasks [1,10], such as opening doors, handing objects, nursing care, etc. In general, mobile manipulators can be roughly categorized into three classes: (i) mobile manipulators with one arm, (ii) multiple mobile manipulators, and (iii) mobile manipulators with dual arms.…”

Section: Introductionmentioning

confidence: 99%

“…A few researchers have paid attention to the second class to investigate some key issues like cooperation [8] and coordination. In contrast with the previous two classes, the studies of the third one have been infrequent but still in progress in recent years [7,9,10], because this kind of robot plays an important role in designing service robots and humanoid robots specifically for their dual-arm configurations. However, as is always the case, there is a cost to pay for advantages: more difficulties in system modeling, controller synthesis, sensor fusion and implementation.…”

Section: Introductionmentioning

confidence: 99%

“…Cheng [9] utilized the Mathematica package to derive the equations of motion using the Lagrange multipliers methodology and proposed a nonlinear backstepping tracking controller to deal with the trajectory tracking problem under the assumption of given system's parameters. Besides, Takahama [10] addressed the motion planning problem for a dual-arm mobile manipulator. Although those approaches have been proven useful in some regional cases, a robust tracking controller for the tracking problem is indeed essential for this robotic system to cope with system uncertainties and external disturbances, which are inevitable in real implementation.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Tracking Control For A Wheeled Mobile Manipulator With Dual Arms Using Hybrid Sliding‐Mode Neural Network

Tsai

Cheng

Lin

2007

Asian Journal of Control

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In this paper, a robust tracking controller is proposed for the trajectory tracking problem of a dual-arm wheeled mobile manipulator subject to some modeling uncertainties and external disturbances. Based on backstepping techniques, the design procedure is divided into two levels. In the kinematic level, the auxiliary velocity commands for each subsystem are first presented. A sliding-mode equivalent controller, composed of neural network control, robust scheme and proportional control, is constructed in the dynamic level to deal with the dynamic effect. To deal with inadequate modeling and parameter uncertainties, the neural network controller is used to mimic the sliding-mode equivalent control law; the robust controller is designed to compensate for the approximation error and to incorporate the system dynamics into the sliding manifold. The proportional controller is added to improve the system's transient performance, which may be degraded by the neural network's random initialization. All the parameter adjustment rules for the proposed controller are derived from the Lyapunov stability theory and e-modification such that uniform ultimate boundedness (UUB) can be assured. A comparative simulation study with different controllers is included to illustrate the effectiveness of the proposed method.

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

Cited by 16 publications

References 11 publications

System integration of a daily assistive robot and its application to tidying and cleaning rooms

System integration of a daily assistive robot and its application to tidying and cleaning rooms

Pose Selection of a Mobile Manipulator for a Pick and Place Task

Robust Tracking Control For A Wheeled Mobile Manipulator With Dual Arms Using Hybrid Sliding‐Mode Neural Network

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