Behavior-Based Mobile Manipulation for Drum Sampling

Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA
Proceedings - IEEE International Conference on Robotics and Automation 05/1996; 3. DOI: 10.1109/ROBOT.1996.506521
Source: OAI


This paper describes an implementation of a behavior-based mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstructured environments. A major contribution of the project was the coherent integration of the arm and base as a cohesive unit, and not just a mobile base with an arm attached. The support for smooth simultaneous operation of all joints on the vehicle facilitated biologically plausible motions, such as arm preshaping. The behavior-based controller used a pseudo-force model, where behaviors add forces and torques to joints and limbs resulting in coordinated motion. The vehicle Jacobian is used to convert the pseudo-forces into joint torques and a pseudo-damping model converts the joint torques into joint velocities. This process allows rapid control of the manipulator without the use of inverse kinematics. A drum sampling task is presented where the vehicle demonstrates how a sample of material could be moved from one drum to another, illustrating the efficacy of the solution.

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Available from: Douglas C. MacKenzie
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    • "Several researchers have proposed ways of extending or applying behavior-based techniques to mobile manipulators. MacKenzie and Arkin adapted a behavior-based approach to a drum sampling task where a mobile robot needed to locate and approach a barrel and insert a probe into its bung hole [6]. This task was accomplished by executing a sequence of behaviors including detect drum, move to goal, detect bung hole, take sample, transfer sample, etc. Petersson and Christensen divided the mobile manipulation problem into a mobility portion and a manipulation portion [7]. "
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