Abstract
One approach of how to pass through a doorway by a mobile robot is discussed. In this task-oriented approach, proposed task is to realize a total behavior with opening a door and passing through a doorway by a mobile robot equipped with a manipulator. In this paper, we describe a design of such behavior by a robot, and show a simulation of robot motion series for this task. The key issue for realizing such behavior is cooperation between robot's function sub-systems, such as the locomotion control system, the manipulator control system and the sensor systems.
| Original language | English |
|---|---|
| Pages (from-to) | 53-64 |
| Number of pages | 12 |
| Journal | Robotics and Autonomous Systems |
| Volume | 17 |
| Issue number | 1-2 SPEC. ISS. |
| DOIs | |
| Publication status | Published - 1996 Apr |
Keywords
- Cooperation behavior
- Distributed control system
- Mobile manipulator
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Mathematics(all)
- Computer Science Applications