Title:
Behavior-Based Mobile Manipulation for Drum Sampling
Behavior-Based Mobile Manipulation for Drum Sampling
| dc.contributor.author | Arkin, Ronald C. | |
| dc.contributor.author | MacKenzie, Douglas Christopher | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.contributor.corporatename | Georgia Institute of Technology. Mobile Robot Laboratory | |
| dc.date.accessioned | 2008-05-16T20:18:07Z | |
| dc.date.available | 2008-05-16T20:18:07Z | |
| dc.date.issued | 1996 | |
| dc.description.abstract | This paper describes an implementation of a behavior-based mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstructured environments. A major contribution of the project was the coherent integration of the arm and base as a cohesive unit, and not just a mobile base with an arm attached. The support for smooth simultaneous operation of all joints on the vehicle facilitated biologically plausible motions, such as arm preshaping. The behavior-based controller used a pseudo-force model, where behaviors add forces and torques to joints and limbs resulting in coordinated motion. The vehicle Jacobian is used to convert the pseudo-forces into joint torques and a pseudo-damping model converts the joint torques into joint velocities. This process allows rapid control of the manipulator without the use of inverse kinematics. A drum sampling task is presented where the vehicle demonstrates how a sample of material could be moved from one drum to another, illustrating the efficacy of the solution. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/21764 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Drum sampling | en_US |
| dc.subject | Mobile manipulator | en_US |
| dc.subject | Pseudo forces | en_US |
| dc.title | Behavior-Based Mobile Manipulation for Drum Sampling | en_US |
| dc.type | Text | |
| dc.type.genre | Paper | |
| dspace.entity.type | Publication | |
| local.contributor.author | Arkin, Ronald C. | |
| local.contributor.corporatename | College of Computing | |
| local.contributor.corporatename | Mobile Robot Laboratory | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
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