Abstract
Mobile Manipulation involves integration of a range of different functionalities from navigation to interaction with objects. To accommodate these functionalities there is a need for a coherent architecture that facilitate such an integration. In addition a rich variety of behaviours with highly variable dynamics must be coordinated. In this paper the basic functionalities for mobile manipulation are discussed. A hybrid deliberative architecture is outlined together with its specification using the hybrid dynamics systems paradigm. Using this framework it is outlined how vision and force torque information may be utilized for recognition, grasping and interaction with objects. Initial experimental results with the integrated system are also presented.
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Christensen, H.I., Petersson, L., Eriksson, M. (2000). Mobile Manipulation — Getting a grip?. In: Hollerbach, J.M., Koditschek, D.E. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-0765-1_32
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DOI: https://doi.org/10.1007/978-1-4471-0765-1_32
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