منابع مشابه
Mobile Manipulation in Unstructured Environments
Unstructured human environments present a substantial challenge to effective robotic operation. Mobile manipulation in typical human environments requires dealing with novel unknown objects, cluttered workspaces, and noisy sensor data. We present an approach to mobile manipulation in such environments using a combination of 2D and 3D visual processing, tactile and proprioceptive sensor data, fa...
متن کاملHierarchical Planning for Mobile Manipulation
Humans somehow manage to choose quite intelligently the 20 trillion primitive motor commands that constitute a life. It has long been thought that hierarchical structure in behavior is essential in managing this complexity. Structure exists at many levels, ranging from small (hundred-step?) motor programs for typing characters and saying phonemes up to large (billion-step?) actions such as writ...
متن کاملExperience Guided Mobile Manipulation Planning
The most critical moves that determine the success of a manipulation task are performed within the close vicinities of the object prior to grasping, and the goal prior to the final placement. Memorizing these state-action sequences and reusing them can dramatically improve the task efficiency, whereas even the state-of-the-art planning algorithms may require significant amount of time and compu...
متن کاملVariable Risk Dynamic Mobile Manipulation
The ability to operate effectively in a variety of contexts will be a critical attribute of deployed mobile manipulators. In general, a variety of properties, such as battery charge, workspace constraints, and the presence of dangerous obstacles, will determine the suitability of particular control policies. Some context changes will cause shifts in risk sensitivity, or tendency to seek or avoi...
متن کاملA Framework for Mobile Manipulation
In this article we present a proposal for a control architecture suitable for mobile manipulation. The approach attempts to combine existing techniques for navigation and mobility with a flexible control system for the manipulator arm, hence a behavior-based system for controlling the platform is integrated with a hybrid dynamic system for the manipulator control. An analysis is made of the sys...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: e & i Elektrotechnik und Informationstechnik
سال: 2020
ISSN: 0932-383X,1613-7620
DOI: 10.1007/s00502-020-00821-w