As robots become more physically robust and capable of sophisticated sensing, navigation, and manipulation, we want them to carry out increasingly complex tasks. A robot that helps in a household must plan over the scale of hours or days, considering abstract features such as the desires of the occupants of the house, as well as detailed geometric models that support locating and manipulating o...

This paper presents a methodology for dynamic modeling and trajectory tracking of a nonholonomic wheeled mobile manipulator with dual arms. First, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A tool...

In this article, the dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystem is formulated using redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using ZMP(Zero Moment Point). This performance index represents the stability of the whole mobile manipu...

In this paper new method for vibration control of Flexible Base Mobile Manipulator (FBMM) under constrained motion control were proposed. When robotic manipulator with base flexibility contacts environment under impedance control, vibration occurs at transient and contact moments. Vibration causes position and force inaccuracy, instability and servicing requirements of equipment. Previous activ...

Recent advancements in mechatronics has led to tremendous development of application of robots for industrial applications involving high health hazards, rough working conditions and difficult to reach locations. Robot assisted welding is one such high risk operation for human being. The industrial arc welding robots are either mounted on the floor, table or on overhead rails. In this scenario,...

This abstract summarizes recent research on the autonomous acquisition of transferrable manipulation skills. We describe a robot system that learns to sequence a set of innate controllers to solve a task, and then extracts transferrable manipulation skills from the resulting solution. Using the extracted skills, the robot is able to significantly reduce the time required to discover the solutio...

This paper presents an approach to plan in realtime trajectories of a mobile manipulator in an environment of dynamic obstacles of unknown motions. It exploits loosecoupling of locomotion and manipulation, taking advantage of the redundancy, to best achieve avoidance of dynamic obstacles and various optimization objectives such as minimizing energy and time, and maximizing manipulability. The a...

This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we generate a semantic map for our environment and design a base model of robot action. Then, we combine this map and action model using the Motion Grammar Calculus to produce a combin...

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as a collection of positions, each with an associated probability that the manipulation action will succeed when located there. ARPlaces are generated using a p...