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Autonomous Coordinated Motion and Mobility Head: Alonzo Kelly Contact: Alonzo Kelly (alonzo@ri.cmu.edu) Mailing address: National Robotics Engineering Center 10 40th Street Pittsburgh, PA 15201 Associated center: NREC

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Project Description

The ACMM (Autonomous Coordinated Motion and Mobility) project integrates and develops controls for more efficient supervised teleoperation of mobile manipulators. The integration of task-space, view referenced, and differential controls into mobile manipulators reduce operator workload, error rates, and learning curves while enabling precise positioning. Coordinated mobility and manipulation planning algorithms automatically generates controls for both base and manipulator motions, which move in concert to achieve the target end effector pose. The experimental platform for the project consisted of a modified LAGR mobile robot outfitted with a five degree-of-freedom manipulator.

Personnel

	Name	Title	Email Address
	Dean Anderson	PhD Student, RI	dranders@cs.cmu.edu
	David Apfelbaum	Senior Research Programmer, CS	da0g@cs.cmu.edu
	Herman Herman	Principal NREC Commercialization Special	h.herman@cs.cmu.edu
	Thomas Howard	PhD Student, RI	thoward@andrew.cmu.edu
	Alonzo Kelly	Associate Professor	alonzo@ri.cmu.edu

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Coordinated Control and Range Imaging for Mobile Manipulation
  D. Anderson, T. Howard, D. Apfelbaum, H. Herman, and A. Kelly
  Proceedings of the 11th International Symposium on Experimental Robotics 2008 (ISER '08), August, 2008. [Abstract]
  Download: pdf [4480 KB] copyrighted