Title:
Integrated Control for Mobile Manipulation for Intelligent Materials Handling
Integrated Control for Mobile Manipulation for Intelligent Materials Handling
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Authors
Arkin, Ronald C.
Arya, S.
Book, Wayne J.
Cameron, Jonathan M.
Gardner, Warren F.
Lawton, Daryl T.
MacKenzie, Douglas Christopher
Ramanathan, V.
Son, C.
Vachtsevanos, George J.
Ward, Keith Ronald
Arya, S.
Book, Wayne J.
Cameron, Jonathan M.
Gardner, Warren F.
Lawton, Daryl T.
MacKenzie, Douglas Christopher
Ramanathan, V.
Son, C.
Vachtsevanos, George J.
Ward, Keith Ronald
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Abstract
An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. Computer vision and other sensor modalities provide the input necessary to cope with materials handling tasks in a partially modeled and dynamic world.
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Date Issued
1992
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Paper