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- Publisher Website: 10.1109/ROBIO.2012.6491324
- Scopus: eid_2-s2.0-84876474816
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Conference Paper: Obstacle avoidance for mobile manipulation by real-time sensor-based redundancy resolution
| Title | Obstacle avoidance for mobile manipulation by real-time sensor-based redundancy resolution |
|---|---|
| Authors | |
| Issue Date | 2012 |
| Citation | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, p. 2369-2374 How to Cite? |
| Abstract | Mobile manipulators provide manipulation operations with mobility capacity and have wide potentials in many applications. However, due to the high redundancy, the planning and control become more complicated and difficult, especially when obstacles occur. Most existing methods are based on the off-line algorithms and most of them mainly focus on planning a new collision-free path, which are not appropriate for some applications, such as teleoperation, and cost many system resources as well. Therefore this paper presents an online planning and control method for obstacle avoidance of mobile manipulators using the real-time sensor-based redundancy resolution. This method is implemented on a mobile manipulator with a 7-DOF manipulator and a 4-wheel drive mobile base. The experimental results demonstrate the effectiveness of this method. © 2012 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/213304 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Zhang, Huatao | - |
| dc.contributor.author | Jia, Yunyi | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Song, Aiguo | - |
| dc.date.accessioned | 2015-07-28T04:06:50Z | - |
| dc.date.available | 2015-07-28T04:06:50Z | - |
| dc.date.issued | 2012 | - |
| dc.identifier.citation | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, p. 2369-2374 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/213304 | - |
| dc.description.abstract | Mobile manipulators provide manipulation operations with mobility capacity and have wide potentials in many applications. However, due to the high redundancy, the planning and control become more complicated and difficult, especially when obstacles occur. Most existing methods are based on the off-line algorithms and most of them mainly focus on planning a new collision-free path, which are not appropriate for some applications, such as teleoperation, and cost many system resources as well. Therefore this paper presents an online planning and control method for obstacle avoidance of mobile manipulators using the real-time sensor-based redundancy resolution. This method is implemented on a mobile manipulator with a 7-DOF manipulator and a 4-wheel drive mobile base. The experimental results demonstrate the effectiveness of this method. © 2012 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest | - |
| dc.title | Obstacle avoidance for mobile manipulation by real-time sensor-based redundancy resolution | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBIO.2012.6491324 | - |
| dc.identifier.scopus | eid_2-s2.0-84876474816 | - |
| dc.identifier.spage | 2369 | - |
| dc.identifier.epage | 2374 | - |