An autonomous mobile manipulator for collecting sample containers
Natarajan, Sankaranarayanan, Kasperski, Sebastian, & Eich, Markus (2014) An autonomous mobile manipulator for collecting sample containers. In International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 17-19 June 2014, Montreal, Canada.
In this work we present an autonomous mobile ma- nipulator that is used to collect sample containers in an unknown environment. The manipulator is part of a team of heterogeneous mobile robots that are to search and identify sample containers in an unknown environment. A map of the environment along with possible positions of sample containers are shared between the robots in the team by using a cloud-based communication interface. To grasp a container with its manipulator arm the robot has to place itself in a position suitable for the manipulation task. This optimal base placement pose is selected by querying a precomputed inverse reachability database.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 European Space Agency|
|Deposited On:||07 May 2015 23:55|
|Last Modified:||12 May 2015 05:29|
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