A hybrid control architecture for mobile manipulation
- 1 October 1999
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 1285-1291
- https://doi.org/10.1109/iros.1999.811657
Abstract
We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our suggested MMCA is designed in such a way that it supports design and performance analysis from both a manipulator dynamics and a hybrid automata perspective.Keywords
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