An autonomous mobile manipulator for assembly tasks

Autonomous Robots

Volumn 28, Issue 1, 2010, Pages 131-149

  Hamner, Brad ^a   Koterba, Seth ^a   Shi, Jane ^b   Simmons, Reid ^a   Singh, Sanjiv ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b GENERAL MOTORS CORPORATION   (United States)

Author keywords

Constrained motion; Coordinated control; Mobile manipulation; Task architecture

Indexed keywords

ASSEMBLY TASKS; AUTOMOTIVE WIRING; AUTONOMOUS MOBILE MANIPULATOR; AUTONOMOUS ROBOTICS; CO-ORDINATED CONTROL; CONSTRAINED MOTION; CONTROL STRATEGIES; HIGH FLEXIBILITY; HIGH RELIABILITY; INHERENT SYSTEM UNCERTAINTY; LARGE-SCALE MANUFACTURING; MOBILE MANIPULATION; PEG-IN-HOLE; SERVOING; TASK CONTROL;

ERGONOMICS; MANIPULATORS; ROBOTICS; VISUAL SERVOING;

ROBOTIC ASSEMBLY;

EID: 73549116546     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-009-9142-y     Document Type: Article

References (32)

1. Y. Bar-Itzhack 2000 New method for extracting the quaternion from a rotation matrix AIAA Journal of Guidance, Control, and Dynamics 23 6 1085 1087 10.2514/2.4654
2. Bischoff, R. (1997). HERMES-a humanoid manipulator for service tasks. In Proceedings of the international conference on field and service robotics, Canberra, December, 1997.
3. Bonasso, R. P., Firby, R. J., Gat, E., Kortenkamp, D., Miller, D. P., & Slack, M. G. (1997). Experiences with an architecture for intelligent, reactive agents. Journal of Experimental and Theoretical Artificial Intelligence, 9(1).
4. O. Brock O. Khatib 2002 Elastic strips: a framework for motion generation in human environments The International Journal of Robotics Research 21 12 1031 1052 10.1177/0278364902021012002
5. S. Chiaverini 1997 Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators IEEE Transactions on Robotics and Automation 13 398 410 10.1109/70.585902
6. J. De Schutter T. De Laet J. Rutgeerts W. Decré R. Smits E. Aerbeliën K. Claes H. Bruyninckx 2007 Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty International Journal of Robotics Research 26 5 433 455 10.1177/027836490707809107 (Pubitemid 46550035)
7. Dillman, R., Ehrenmann, M., Steinhaus, P., Rogalla, O., & Zollner, R. (2002). Human friendly programming of humanoid robots-the German collaborative research center. In Proceedings of the IEEE international workshop of robot and human interactive communication.
8. Donald, B. R. (1990). Planning multi-step error detection and recovery strategies. The International Journal of Robotics Research, 892-897.
9. Duchaine, V., & Gosselin, C. (2007). General model of human-robot cooperation using a novel velocity based variable impedance control. In Proceedings of the second joint EuroHaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems.
10. Edsinger, A., & Kemp, C. (2006). Manipulation in human environments. In Proceedings of the IEEE/RSJ international conference on humanoid robotics.
11. M. Fiala 2005 ARTag, a fiducial marker system using digital techniques IEEE Computer Vision and Pattern Recognition 2 590 596
12. R. Holmberg O. Khatib 2000 Development and control of a holonomic mobile robot for mobile manipulation tasks The International Journal of Robotics Research 19 11 1066 1074 10.1177/02783640022067977 (Pubitemid 32067761)
13. Kim, J., Chung, W. K., Youm, Y., & Lee, B. H. (2002). Real-time ZMP compensation method using null motion for mobile manipulators. In Proceedings of the IEEE international conference on robotics and automation, Washington DC.
14. Kragic, D., Crinier, S., Brunn, D., & Christensen, H. I. (2003). Vision and tactile sensing for real world tasks. In Proceedings of the IEEE international conference on robotics and automation, Taipei, Taiwan.
15. Mason, M. (1979). Compliance and force control for computer controlled manipulators. MIT Artificial Intelligence Laboratory Memo 515, April 1979.
16. J. Mills A. Goldenberg 1989 Force and position control of manipulators during constrained motion tasks IEEE Transactions on Robotics and Automation 5 1 30 46 10.1109/70.88015
17. Y. Nakamura H. Hanafusa 1986 Inverse kinematic solutions with singularity robustness for robot manipulator control Journal of Dynamic Systems, Measurement, and Control 108 163 171 0609.93044 10.1115/1.3143764
18. Peshkin, M. A., Colgate, J. E., Akella, P., & Wannasuphoprasit, W. (2000). Cobots in materials handling, In M. Cutkosky, R. Howe, K. Salisbury & M. Srinivasan (Eds.), Human and Machine Haptics. Cambridge: MIT Press.
19. Petersson, L., Jensfelt, P., Tell, D., Strandberg, M., Kragic, D., & Christensen, H. I. (2002). Systems integration for real-world manipulation tasks. In Proceedings of the IEEE international conference on robots and automation.
20. M. H. Raibert J. J. Craig 1981 Hybrid position/force control of manipulators Transactions of ASME, Journal DSMC 103 126 133
21. Sciavicco, L., & Siciliano, B. (2005). Modeling and control of robot manipulators (2nd ed.). London: Springer.
22. S. Schaal 2007 The New Robotics-towards human-centered machines HFSP Journal 1 2 115 126 10.2976/1.2748612
23. S. Se D. Lowe J. Little 2005 Vision-based global localization and mapping for mobile robots IEEE Transactions on Robotics 21 3 364 375 10.1109/TRO.2004.839228 (Pubitemid 40858152)
24. B. Sellner F. W. Heger L. M. Hiatt R. Simmons S. Singh 2006 Coordinated multi-agent teams and sliding autonomy for large-scale assembly Proceedings of the IEEE, Special Issue on Multi-Agent Systems 94 7 1425 1444
25. Shin, D., Hamner, B., Singh, S., & Hwangbo, M. (2003). Motion planning for a mobile manipulator with imprecise locomotion. In Proceedings of IEEE/RSJ international conference on intelligent robots and systems (pp. 847-853).
26. Simmons, R., & Whelan, G. (1997). Visualization tools for validating software of autonomous spacecraft. In Proceedings of international symposium on artificial intelligence, robotics and automation in space, Tokyo, Japan, July 1997.
27. Simmons, R., & Apfelbaum, D. (1998). A task description language for robot control. In Proceedings of conference on intelligent robotics and systems, Vancouver, Canada, October 1998.
28. C. W. Wampler 1986 Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods IEEE Transactions on Systems, Man, and Cybernetics SMC-16 93 101 10.1109/TSMC.1986.289285 (Pubitemid 16187854)
29. D. E. Whitney 1969 Resolved motion rate control of manipulators and human prostheses IEEE Transactions on Man-Machine System MMS-IO 47 53 10.1109/TMMS.1969.299896
30. Yamamoto, Y., & Yun, X. (1992). Coordinating locomotion and manipulation of a mobile manipulator. In Proceedings of the 31st IEEE conference on decision and control (Vol. 3, pp. 2643-2648), Tucson, AZ, USA.
31. T. Yoshikawa 1987 Dynamic hybrid position/force control of robot manipulators-description of hand constraints and calculation of joint driving force IEEE Journal of Robotics and Automation RA-3 5 386 392 10.1109/JRA.1987.1087120
32. J. S. Yuan 1988 Closed-loop manipulator control using quaternion feedback IEEE Journal of Robotics and Automation 4 4 434 440 10.1109/56.809 (Pubitemid 18665630)