Design and Implementation of Mobile Manipulator System

You, Yancheng; Fan, Zhun; Chen, Wenzhao; Zhu, Guiyu; Qiu, Benzhang; Xin, Jiaming; Chen, Jingming; Deng, Fumin; Hou, Youzhao; Weixiang, Liang; Runzhan, Fu

doi:10.1109/cyber46603.2019.9066594

Cited by 10 publications

(4 citation statements)

References 16 publications

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“…Extensive research on mobile manipulation has been conducted in many robot subdivisions, such as humanoid robots [ 14 , 15 ], wheeled robots [ 7 , 16 ], legged robots [ 17 , 18 ], unmanned aerial vehicles [ 19 , 20 , 21 ] and underwater robots [ 22 ]. In recent years, a large number of competitions related to mobile operations have been held, such as the Amazon Robotics Challenge [ 23 , 24 ], the DARPA Robotics Challenge [ 25 ], and the FetchIt!…”

Section: Related Workmentioning

confidence: 99%

Mobile Manipulation Integrating Enhanced AMCL High-Precision Location and Dynamic Tracking Grasp

Zhou

Chou

Tuo

et al. 2020

Sensors

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Mobile manipulation, which has more flexibility than fixed-base manipulation, has always been an important topic in the field of robotics. However, for sophisticated operation in complex environments, efficient localization and dynamic tracking grasp still face enormous challenges. To address these challenges, this paper proposes a mobile manipulation method integrating laser-reflector-enhanced adaptive Monte Carlo localization (AMCL) algorithm and a dynamic tracking and grasping algorithm. First, by fusing the information of laser-reflector landmarks to adjust the weight of particles in AMCL, the localization accuracy of mobile platforms can be improved. Second, deep-learning-based multiple-object detection and visual servo are exploited to efficiently track and grasp dynamic objects. Then, a mobile manipulation system integrating the above two algorithms into a robotic with a 6-degrees-of-freedom (DOF) operation arm is implemented in an indoor environment. Technical components, including localization, multiple-object detection, dynamic tracking grasp, and the integrated system, are all verified in real-world scenarios. Experimental results demonstrate the efficacy and superiority of our method.

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Section: Related Workmentioning

confidence: 99%

Mobile Manipulation Integrating Enhanced AMCL High-Precision Location and Dynamic Tracking Grasp

Zhou

Chou

Tuo

et al. 2020

Sensors

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“…In the field of robots used in quarantine, there is not a lot of research done. There have been papers on a robot that could be used in such a situation [18] and papers on how this robot can be improved [20,22,34]. One study also showed that the public opinion about the occupation of robots also shifts towards robots doing jobs that require memorization and service-orientation, instead of only dull jobs [28].…”

Section: Related Workmentioning

confidence: 99%

Humans and Robots in Times of Quarantine Based on First-Hand Accounts

Lafranca

2020

Social Robotics

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A quarantine is an effective measure in order to contain a disease and it is needed to be used more often in current times. Quarantine forces people to have minimal to no social contact with other humans for a certain period of time. Past work says this isolation can have a serious psychological impact on people's lives, which can have dramatic consequences. Research can help find the positive and negative experiences of people in quarantine, in order to determine their needs. But how do people respond to quarantine according to their own self accounts? We look to a video platform as a unique opportunity to explore this question. Robots can be used in times of quarantine so isolation can be maintained. However, these robots should be matching the actual needs of the people in quarantine in order to have an effect. This research will use a content analysis of first-hand accounts of people in quarantine in order to find their experiences and needs. After that, there will be an analysis of robots that are used in times of quarantine. Lastly, these two analyses will be used to find out if the robots match the needs of the people in quarantine. We report on two major components to first-hand social media quarantine accounts: emotional response and procedural explanations provided by detainees, and explore potential reasons for them choosing to share these types of content. On top of that, we report on robots that are mentioned by social media, the tasks that they do, and the needs they fulfill. This research will expand on the current knowledge domain of needs in quarantine and will also add to the knowledge domain of the effectiveness of robots in quarantine.

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“…This model-based technique has certain drawbacks, such as the requirement for model information parameters, error accumulation, and singularity. It also requires heavy computation or continuous matrix inversion over time to find global stability [1,[22][23][24]. For this article, a learning-based redundancy resolution method has been developed in order to overcome those limitations of a model-based approach.…”

Section: Introductionmentioning

confidence: 99%

Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm

Tolossa,

Gupta,

Orlando

et al. 2024

Preprint

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A learning-based strategy for the trajectory tracking of redundant mobile manipulators (MM) was presented in this study. A five-degrees-of-freedom (DOF) manipulator is mounted on the differential drive (DD) mobile robot. The advantage of using a redundant system is to avoid joint limits, obstacles and singularities towards desired trajectory tracking. The proposed approach is based on Kohonen Self-Organizing Map (KSOM) enhanced a weighted least norm (WLN) matrix algorithm. This approach is the recommended neural network for inverse kinemat-ics solutions because of its stability, preserved topology, and capacity to optimize the joint space trajectory while producing a smooth minimal joint angle. A proposed method for redundancy resolution in MM has been simulated using MATLAB simulation code and the Gazebo real-time simulation pysical environment. The simulation results are evaluated with the joint limit method of redundancy resolution and other existing controllers for verification purpose. The conventional method of redundancy resolution is local optimum and infeasible for the end-effector motion in the entire workspace. The KSOM uses different steps of error correction that improve the system’s performance as well as ensure the global asymptotical stability of the system.

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Design and Implementation of Mobile Manipulator System

Cited by 10 publications

References 16 publications

Mobile Manipulation Integrating Enhanced AMCL High-Precision Location and Dynamic Tracking Grasp

Mobile Manipulation Integrating Enhanced AMCL High-Precision Location and Dynamic Tracking Grasp

Humans and Robots in Times of Quarantine Based on First-Hand Accounts

Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm

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