TY - JOUR
T1 - Designing a behavior of a mobile robot equipped with a manipulator to open and pass through a door
AU - Nagatani, Keiji
AU - Yuta, Shin'ichi
PY - 1996/4
Y1 - 1996/4
N2 - 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.
AB - 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.
KW - Cooperation behavior
KW - Distributed control system
KW - Mobile manipulator
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U2 - 10.1016/0921-8890(95)00061-5
DO - 10.1016/0921-8890(95)00061-5
M3 - Article
AN - SCOPUS:0030120671
SN - 0921-8890
VL - 17
SP - 53
EP - 64
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 1-2 SPEC. ISS.
ER -