In this article, we present multi-agent based system generic model architecture for distributed control. This model is dedicated to pilot mobile manipulator robots. The choice of the suggested approach is justified by the generic character of the proposed agent model and on the other hand, by the possibility of integrating the whole in a distributed robotic system (example: CDTA's flexible manu...

We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile base and an end effector. Beyond sensor calibration, we demonstrate that the method can be extended to include manipulator kinematic model parameters, which i...

We present a Hierarchical and Adaptive Mobile Manipulator Planner (HAMP) that plans for both the base and the arm in a judicious manner allowing the manipulator to change its configuration autonomously when needed if the current arm configuration is in collision with the environment as the mobile manipulator moves along the planned path. This is in contrast to current implemented approaches tha...

In this paper we provide a description of the LUHbots team. We describe the current state of the team as well as current plans and research goals towards the 2016 RoboCup@Work tournament in Leipzig. The software is based upon a ROS-architecture and the hardware uses a KUKA youBot as a basis. The focus of the team lies with failure tolerant approaches to mobile manipulation.

We describe a robot system that autonomously acquires skills through interaction with its environment. The robot learns to sequence the execution of a set of innate controllers to solve a task, extracts and retains components of that solution as portable skills, and then transfers those skills to reduce the time required to learn to solve a second task.

Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque requir...

In this article we present a scheme for mobile manipulation by introducing a Mobile Manipulation Control Architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our...

The UMASS uBot-4 is a two wheeled, dynamically stable, bimanual mobile manipulator. It is a compact, safe, and cost effective platform with many features such as whole body postural control, force sensing actuators, two 4-DOF arms, and a small footprint. It is the latest in a series of small mobile robots that originated with the uBot-0.5 (ca. 1997). This paper presents the motivations for the ...

In this paper, an eficient dynamic simulation algori thm is developed f o r an unmanned underwater vehicle (ULJV) with a robotic manipulator. It is based on an eficient O ( N ) algorithm where N is the number of links in the manipulator, and has been extended to include the full effects of a mobile base and various hydrodynamic forces that are ezerted on these systems in underwater environments...

This paper describes the approach followed in the design of a service robot for health care applications. Under the auspices of the NASA Technology Transfer Program, a partnership was established between JPL and RWI, a manufacturer of mobile robots, to design and evaluate a mobile robot for health care assistance to the elderly and the handicapped. The activities of the rst phase of the project...