This paper explores a novel mode of mobile manipulation using a car-like robot whose chassis does not extend above the height of its wheels. It transports an object that rests on top of the wheels, so as the robot moves forwards, the object moves forward relative to the robot. The robot must maneuver so that the object stays on top of the robot, or a second robot must be in position to receive ...

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Future space facilities that could power our planet and expand our horizons will differ vastly from the satellites and space stations familiar today. Characterized by their immense size and the difficulties of human construction in orbit, future space facilities will be assembled in part by robots. This paper profiles Skyworker, a prototype Assembly, Inspection, and Maintenance (AIM) robot desi...

Manufacturing industries are changing rapidly towards more flexibility and autonomy. The RoboCup Logistics League (RCLL) and RoboCup@Work tackle research questions in this domain focusing on automated reasoning and planning, and mobile manipulation respectively. However, future scenarios will require both aspects (and more) and will most likely operate with more heterogeneous systems. In this p...

This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, an...

Household manipulation presents a challenge to robots because it requires perceiving a variety of objects, planning multi-step motions, and recovering from failure. This paper presents practical techniques that improve performance in these areas by considering the complete system in the context of this specific domain. We validate these techniques on a table-clearing task that involves loading ...

This paper describes a novel framework for object picking and carrying task by a mobile manipulator. Conventionally, researches on mobile manipulator cope well with object manipulation task with utilizing predefined knowledge or specific tools. So these researches have an essential problem that a new target object cannot be added without relatively many preparation. On the other hand, in our fr...

We extend the standard de nition of manipulability to the case of a nonholonomic mobile manipulator built from an n joint robotic arm and a nonholonomic mobile platform. The e ects of mounting the arm on a nonholonomic platform are shown through the analysis of the manipulability thus de ned. Applications of criteria inherited from manipulability considerations are given to justify design and t...

In this paper, force/motion tracking control is investigated for nonholonomic mobile manipulators with unknown parameters and disturbances under uncertain holonomic constraints. The nonholonomic mobile manipulator is transformed into a reduced chained form, and then, robust adaptive force/motion control with hybrid variable signals is proposed to compensate for parametric uncertainties and supp...

Mobile manipulators operating in eld environments are susceptible to dangerous and costly rollover or tipover instabilities, particularly when operating over uneven terrain or when exerting large forces or moments. By monitoring the static and dynamic tipover stability margins of a mobile manipulator it is possible to predict such tipovers and take appropriate actions to prevent the tipover fro...