Mobile Manipulation
Project Director
-
Dr. Ronald C. Arkin.
Co-Principal Investigators
- Dr. Wayne Book.
- Dr. Daryl Lawton.
Graduate Student Researcher
-
Doug MacKenzie.
Funding
- NSF Grant 9113747 under the Intelligent Material Handling
Initiative and the Georgia Tech Material Handling Research Center.
Description
- Coordinated control of an integrated robot arm and mobile base has
been developed for use in at most partially modeled and dynamic
domains. Reactive control principles are applied to the
macromotion phase, where the end effector is delivered into the
vicinity of the object to be manipulated. During the micromotion
phase, vision and force control provide feedback to direct the
manipulation. Both holonomic and nonholonomic vehicles are
considered.