Mobile Manipulation - A Challenge in Integration

摘要

Mobile manipulation in many respects represents the next generation of robot applications. An important part of design of such systems is the integration of techniques for navigation, recognition, control, and planning to achieve a robust solution. To study this problem three different approaches to mobile manipulation have been designed and implemented. A prototypical application that requires navigation and manipulation has been chosen as a target for the systems. In this paper we present the basic design of the three systems and draw some general lessons on design and implementation.