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