Sensor-based path planning for a mobile manipulator guided by the humans

被引：0
|
作者：
Blanco, D [1 ]
Boada, BL [1 ]
Castejón, C [1 ]
Balaguer, C [1 ]
Moreno, L [1 ]
机构：
[1] Univ Carlos III Madrid, Syst Engn & Automat Dept, Madrid 28911, Spain
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper proposes the sensor-based control of the mobile manipulator for cooperative tasks with humans. The generation of the local paths are based on the force-torque and laser telemeter data. The Local Voronoi Diagram technique is used for generation of the safe paths. The extended Gradient Projection Method for redundancy resolution of nonholonomic robots (NHGPM) is applied. The mobile manipulator takes advantage of the capability to generate its own motion plans in order to avoid obstacles while collaborating with humans in transportation tasks.
引用
收藏
页码：240 / 245
页数：6
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