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dc.contributor.authorÖgren, Petter
dc.contributor.authorEgerstedt, Magnus B.
dc.contributor.authorHu, Xiaoming
dc.date.accessioned2011-04-21T18:50:20Z
dc.date.available2011-04-21T18:50:20Z
dc.date.issued2000-12
dc.identifier.citationP. Ögren, M. Egerstedt, L. Petersson, and X. Hu. Reactive Mobile Manipulation: Design and Implementation. IEEE Conference on Decision and Control, Sydney, Australia, Dec. 2000.en_US
dc.identifier.issn0191-2216
dc.identifier.urihttp://hdl.handle.net/1853/38672
dc.description(c) 2000 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionDigital Object Identifier : 10.1109/CDC.2000.914278
dc.description.abstractA solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, and at the same time the base motions are generated in such a way that the base is coordinated with the gripper while reactively avoiding obstacles. Furthermore, it is shown that the method allows arbitrary upper and lower bounds on the gripper-base distance to be set, and this can be achieved without introducing deadlocks into the system.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectTrajectory trackingen_US
dc.subjectMobile manipulationen_US
dc.subjectMobile robotsen_US
dc.titleReactive Mobile Manipulation: Design and Implementationen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameKungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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