Mobile Robot Laboratory Research Projects

Mobile Manipulation

Project Director

Dr. Ronald C. Arkin.

Co-Principal Investigators

Dr. Wayne Book.
Dr. Daryl Lawton.

Graduate Student Researcher

Doug MacKenzie.


NSF Grant 9113747 under the Intelligent Material Handling Initiative and the Georgia Tech Material Handling Research Center.


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.

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