Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback

Jingguo Wang; Yangmin Li

doi:10.1007/978-3-642-16584-9_20

Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

4 Citations (Scopus)

Abstract

This paper presents a modeling method for a mobile modular manipulator (MMM) interacting with the environment, which is composed of a mobile base and a 5-DOF manipulator. A tactile sensor, which is installed at the tip of the end-effector of the mobile manipulator, is to detect the feedback information from the environment. The dynamic equations are formulated and the controller is proposed with both the redundancy resolution and manipulability measures. The tactile sensing-assisted strategies are proposed and combined into the control algorithm. A real mobile manipulator is built up to contact with the environment in our lab and the results show the effectiveness of the proposed method.

Original language	English
Title of host publication	Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Pages	214-225
Number of pages	12
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-16584-9_20
Publication status	Published - 29 Dec 2010
Externally published	Yes
Event	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China Duration: 10 Nov 2010 → 12 Nov 2010

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	6424 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Country/Territory	China
City	Shanghai
Period	10/11/10 → 12/11/10

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

More information

10.1007/978-3-642-16584-9_20

Cite this

Wang, J., & Li, Y. (2010). Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings (PART 1 ed., pp. 214-225). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6424 LNAI, No. PART 1). https://doi.org/10.1007/978-3-642-16584-9_20

Wang, Jingguo ; Li, Yangmin. / Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback. Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1. ed. 2010. pp. 214-225 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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abstract = "This paper presents a modeling method for a mobile modular manipulator (MMM) interacting with the environment, which is composed of a mobile base and a 5-DOF manipulator. A tactile sensor, which is installed at the tip of the end-effector of the mobile manipulator, is to detect the feedback information from the environment. The dynamic equations are formulated and the controller is proposed with both the redundancy resolution and manipulability measures. The tactile sensing-assisted strategies are proposed and combined into the control algorithm. A real mobile manipulator is built up to contact with the environment in our lab and the results show the effectiveness of the proposed method.",

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Wang, J & Li, Y 2010, Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback. in Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 6424 LNAI, pp. 214-225, 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010, Shanghai, China, 10/11/10. https://doi.org/10.1007/978-3-642-16584-9_20

Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback. / Wang, Jingguo; Li, Yangmin.
Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1. ed. 2010. p. 214-225 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6424 LNAI, No. PART 1).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Wang J, Li Y. Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1 ed. 2010. p. 214-225. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-16584-9_20

Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback

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