Organizational Unit:
Humanoid Robotics Laboratory
Humanoid Robotics Laboratory
2012-06
,
Dantam, Neil
,
Nieto-Granda, Carlos
,
Christensen, Henrik I.
,
Stilman, Mike
This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control
policy for mobile manipulation in unstructured environments. First, we generate
a semantic map for our environment and design a base model of robot action.
Then, we combine this map and action model using the Motion Grammar Calculus to produce a combined robot-environment model. Using this combined model,
we apply supervisory control to produce a policy for the manipulation task. We
demonstrate this approach on a Segway RMP-200 mobile platform.