Integrated autonomous mobile-manipulation simultaneous path planning sensing exploration for inspection and manipulation

用于检查和操纵的集成自主移动操纵同步路径规划传感探索

• 批准号: 36585-2006
• 负责人: Gupta, Kamal
• 金额: $ 3.03万
• 依托单位: Simon Fraser University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=364313
• 关键词: Integrated; autonomous; mobile; manipulation; simultaneous

Sophisticated robotics platforms that combine mobility and manipulation are emerging, driven by applications in personal robotics, where robotics systems would carry out their tasks in a milieu of  humans around them. This requires integrating mobility (mobile platform), manipulation (arm mounted on mobile base), sophisticated sensing, and planning. The objective of our research is to develop a comprehensive computational framework that integrates mobility, manipulation, sensing and planning with the explicit aim of developing practical algorithms for autonomous behaviour of such mobile manipulator systems.

在个人机器人应用的推动下，联合收割机结合了移动性和操纵性的复杂机器人平台正在出现，在个人机器人中，机器人系统将在周围的人类环境中执行任务。这需要集成移动性（移动的平台）、操纵（安装在移动的基座上的臂）、复杂的传感和规划。我们的研究的目的是开发一个全面的计算框架，集成的流动性，操纵，传感和规划的明确目标，开发实用的算法自主行为的移动的机械手系统。