Carnegie Mellon University
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Experiments with Nonholonomic Manipulation

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journal contribution
posted on 2002-01-01, 00:00 authored by Siddhartha SrinivasaSiddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy B. Reshko, Matthew T. Mason, Michael A. Erdmann
This paper summarizes ongoing work with a mo- bile manipulator (Mobipulator ). We describe the sys- tem architecture of the latest version of the robot, a hierarchy of robot motion commands (the Mobipula- tion library) that can be snapped together to generate complicated paths easily, a configuration space plan- ner that plans wheel motions to manipulate paper, and a visual servoing system to monitor and correct errors in robot motion.


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