Semi-autonomous reconfiguration of wheeled mobile robots in coordination

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 4, 2004, Pages 3456-3461

  Yamamoto, Yoshio ^a   Hiyama, Yoshihisa ^a   Fujita, Akira ^a  

^a TOKAI UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; KINEMATICS; MANEUVERABILITY; MANIPULATORS; MATHEMATICAL MODELS; RANGE FINDERS;

COORDINATION ALGORITHMS; MOBILE MANIPULATORS; MULTIPLE SUBSYSTEMS; SEMI-AUTONOMOUS RECONFIGURATION;

MOBILE ROBOTS;

EID: 3042556027     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1308788     Document Type: Conference Paper

References (16)

1. W. F. Carriker, P. K. Khosla, and B. H. Krogh. Path planning for mobile manipulators for multiple task execution. IEEE Transactions on Robotics and Automation, 7(3):403-408, June 1991.
2. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano. On the manipulability of dual cooperative robots. In Proceedings of NASA Conference on Space Telerobotics, pages 351-360, January 1989.
3. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano. Task space dynamic analysis of multiarm system configurations. The International Journal of Robotics Research, 10(6):708-715, December 1991.
4. N. A. M. Hootsmans. The Motion Control of Manipulators on Mobile Vehicles. PhD thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, January 1992.
5. C.A. Klein and B.E. Blaho. Dextrerity measures for the design and control of kinematically redundant manipulators. The International Journal of Robotics Research, 6(2):72-83, 1987.
6. Y. Kume, Y. Hirata, Z-D. Wang and K. Kosuge. Decentralized control of multiple mobile manipulators handling a single object in coordination. In Proceedings of 2002 International Conference on Intelligent Robots and Systems, pages 2758-2763, Lausanne, Switzerland, October 2002.
7. S. Lee. Dual redundant arm configuration optimization with task-oriented dual arm manipulability. IEEE Transactions on Robotics and Automation, 5(1):78-97, 1989.
8. Z. Li, P. Hsu, and S. Sastry. Grasping and coordinated manipulation by a multifingered hand. The International Journal of Robotics Research, 8(4):33-50, 1989.
9. W. Miksch and D. Schroeder. Performance-functional based controller design for a mobile manipulator. In Proceedings of 1992 International Conference on Robotics and Automation, pages 227-232, Nice, France, May 1992.
10. F. G. Pin and J. C. Culioli. Optimal positioning of combined mobile platform-manipulator systems for material handling tasks. Journal of Intelligent and Robotic Systems, 6:165-182, 1992.
11. H. Seraji. An on-line approach to coordinated mobility and manipulation. In Proceedings of 1993 International Conference on Robotics and Automation, pages 28-35, Vol. 1, Atlanta, GA, May 1993.
12. Y. Yamamoto and X. Yun. Coordinating locomotion and manipulation of a mobile manipulator. IEEE Transactions on Automatic Control, 39(6):1326-1332, June 1994.
13. Y. Yamamoto and X. Yun. A modular approach to dynamic modeling of a class of mobile manipulators. International Journal of Robotics and Automation, 12(2):41-48, 1997.
14. Y. Yamamoto and X. Yun. Task space analysis of multiple mobile manipulator system. In Proceedings of 1996 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pages 338-344, Monterey, CA, November 1999.
15. Y. Yamamoto and X. Yun. Unified analysis of mobility and manipulability of mobile manipulators. In Proceedings of 1999 International Conference on Robotics and Automation, pages 1200-1206, Detroit, MI, May 1999.
16. Y. Yamamoto and S. Fukuda. Trajectory planning of multiple mobile manipulators with collision avoidance capability. In Proceedings of 2002 International Conference on Robotics and Automation, pages 3565-3570, Washington,DC, May 2002.