Development of a Mobile Manipulation System for Pier Construction

Mobile manipulation has a broad range of applications in robotics. However, it is usually more challenging than fixed-base manipulation due to the complex coordination of a mobile base and a manipulator. Although recent works have demonstrated that deep reinforcement learning is a powerful technique for fixed-base manipulation tasks, most of them are not applicable to mobile manipulation. This paper investigates how to leverage deep reinforcement learning to tackle whole-body mobile manipulation tasks in unstructured environments using only on-board sensors. A novel mobile manipulation system which integrates the state-of-the-art deep reinforcement learning algorithms with visual perception is proposed. It has an efficient framework decoupling visual perception from the deep reinforcement learning control, which enables its generalization from simulation training to real-world testing. Extensive simulation and experiment results show that the proposed mobile manipulation system is able to grasp different types of objects autonomously in various simulation and real-world scenarios, verifying the effectiveness of the proposed mobile manipulation system.

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Cart pushing with a mobile manipulation system: Towards navigation with moveable objects

2011 IEEE International Conference on Robotics and Automation ◽

10.1109/icra.2011.5980288 ◽

2011 ◽

Cited By ~ 18

Author(s):

Jonathan Scholz ◽

Sachin Chitta ◽

Bhaskara Marthi ◽

Maxim Likhachev

Keyword(s):

Mobile Manipulation ◽

Manipulation System

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Developments in Visual Servoing for Mobile Manipulation

Unmanned Systems ◽

10.1142/s2301385013300011 ◽

2013 ◽

Vol 01 (01) ◽

pp. 143-162 ◽

Cited By ~ 5

Author(s):

Haoxiang Lang ◽

Muhammad Tahir Khan ◽

Kok-Kiong Tan ◽

Clarence W. de Silva

Keyword(s):

Visual Information ◽

Visual Servoing ◽

Mobile Robotics ◽

Servo System ◽

General Concept ◽

Mobile Manipulation ◽

Visual Servo ◽

Servo Systems ◽

Manipulation System ◽

Fixed Base

A new trend in mobile robotics is to integrate visual information in feedback control for facilitating autonomous grasping and manipulation. The result is a visual servo system, which is quite beneficial in autonomous mobile manipulation. In view of mobility, it has wider application than the traditional visual servoing in manipulators with fixed base. In this paper, the state of art of vision-guided robotic applications is presented along with the associated hardware. Next, two classical approaches of visual servoing: image-based visual servoing (IBVS) and position-based visual servoing (PBVS) are reviewed; and their advantages and drawbacks in applying to a mobile manipulation system are discussed. A general concept of modeling a visual servo system is demonstrated. Some challenges in developing visual servo systems are discussed. Finally, a practical application of mobile manipulation system which is developed for applications of search and rescue and homecare robotics is introduced.

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Parallel and sequential structures of manipulators in robotic surgery

Доклады Академии наук ◽

10.31857/s0869-56524852166-170 ◽

2019 ◽

Vol 485 (2) ◽

pp. 166-170

Author(s):

E. I. Veliev ◽

R. F. Ganiev ◽

V. A. Glazunov ◽

G. S. Filippov

Keyword(s):

Robotic Surgery ◽

Robotic System ◽

Parallel Structure ◽

Manipulation System ◽

Surgical Manipulation ◽

Surgical Operations

The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic system with a parallel structure designed for various kinds of surgical operations is proposed.

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