Mobile manipulation: The robotic assistant

被引：152

作者：

Khatib, O ^{[1
]}

机构：

[1] Stanford Univ, Dept Comp Sci, Robot Lab, Stanford, CA 94086 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1999年 / 26卷 / 2-3期

关键词：

coordinated mobility and manipulation; multiple robot cooperation; human-robot interaction; service robotics;

D O I：

10.1016/S0921-8890(98)00067-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This paper discusses the development of robotic "assistance" capabilities to aid workers in the accomplishment of a variety of physical operations and presents various control strategies developed for vehicle-arm coordination, compliant motion tasks, and cooperative manipulation between multiple platforms. These strategies have been implemented on two holonomic mobile platforms designed and built at Stanford in collaboration with Oak Ridge National Laboratories and Nomadic Technologies. (C) 1999 Elsevier Science B.V. All rights reserved.

引用

页码：175 / 183

页数：9

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