Nonprehensile palmar manipulation with a mobile robot

Wesley H. Huang, G. Holden
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引用次数: 10

Abstract

Manipulation is a key capability for mobile robots to perform a greater variety of useful tasks. We consider mobile robots equipped with low degree-of-freedom "palm manipulators." The advantage of using this sort of nonprehensile (i.e. nongrasping) manipulator is its simplicity and versatility. Although in general multiple robots may be needed, the initial work described in the paper considers only a single robot. We formulate the mechanical analysis for manipulating objects and describe a planner for a single robot with a palm manipulator. We conclude with details of our experimental implementation and preliminary results.
用移动机器人进行手掌操作
操作是移动机器人执行更多有用任务的关键能力。我们考虑配备低自由度“手掌操纵器”的移动机器人。使用这种非抓握机械手的优点是它的简单性和通用性。虽然一般情况下可能需要多个机器人,但本文所描述的初始工作仅考虑单个机器人。我们制定了操纵物体的力学分析,并描述了一个具有手掌操纵器的单机器人的规划。最后,我们详细介绍了我们的实验实施和初步结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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