Date of Original Version



Conference Proceeding

Abstract or Description

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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Robotics Commons



Published In

Proceedings of IEEE International Conference on Robotics and Automation, 2, 2042-2047.