Abstract
A goal of this research is to accomplish a long distance navigation task by an autonomous mobile manipulator, including a behavior of Passing through a doorway. In our approach to this problem, we apply the concept of action primitives to the mobile manipulator control system. Action primitives are defined as unit elements of a complex behavior (such as door opening behavior), which control a robot according to a sequence of planned motion primitives. An important feature of the concept is that each action primitive is designed to include an error adjustment mechanism to cope with the accumulated position error of the mobile base. In this article, we report on the design and implementation of action primitives for a door opening task, and show experimental results for Passing through a doorway by an autonomous mobile manipulator using sequences of action primitives.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
