Autonomous mobile manipulator for operation in difficult environments(MANFRED)
Funding: Ministry of Science and Technology (Spanish Govern
The aim of the project is to develop an autonomous mobile manipulator able to operate efficiently in environments where human manipulation capabilities are required.
Due to the presence of obstacles, fixed or mobile, narrow places, locations with a high number of obstacles, doors, safety valves and other elements in typical human environments, mobile manipulators require a high level of autonomy in movements and manipulation. To cope with autonomy requirements a combination of displacement, manipulation and sensorial capabilites are nedeed. Other important aspect in many kind of environments is the presence of persons. Safety considerations need to be carefully considered from a sensorial point of view and specially in those aspects relatives to the manipulator (light wheight and moderate speeds. MANFRED has a coordinated control of all degree of freedom in the system (the mobile base 2 DOF and the manipulator 6 DOF) to achieve a good and robust movement in order to develope efficiently different tasks. This mobile manipulator use a sensorial system based in vision and 3-D laser telemetry to perceive and model 3-D environments. This sensorial system have to be coordinated with the control system to manipulate objects than can be located in uncertain location of the espace. The mobile manipulator will include all the capabilities needed to navigate, localize and avoid obstacles safely through the environment
D.Blanco; S.Kadhim; C.Castejon; B.L.Boada; L.Moreno. MANFRED: Robot antropomórfico de servicio fiable y seguro para operar en entornos humanos . Revista Iberoamericana de Ingeniería Mecánica (ISSN: 1137-2729). Vol. 9. No. 3. pp.33-48. 2005.
B.L.Boada; D.Blanco; L.Moreno. Symbolic Place Recognition in Voronoi-based maps by Using Hidden Markov Models. Journal of Intelligent and Robotic Systems. Vol. 39. No. . pp.173-197. 2004.
C.Castejon; D.Blanco; B.L.Boada; L.Moreno. Desarrollo de un sistema de percepción de una plataforma móvil para entornos exteriores. Revista Iberoamerica de Ingeniería Mecánica (ISSN : 1137-2729). Vol. 8. No. 3. pp.3-23. 2004.
L.Moreno; E.Dapena. Path Quality Measures for Sensor-based Motion Planning.. Robotics and Autonomous Systems. Vol. 44. No. 2. pp.131-150. 2003.
D.Álvarez; A.Lumbier; J. V.Gómez; S.Garrido; L.Moreno. Precision Grasp Planning Based on Fast Marching Square.
. IEEE/RSJ 21st Mediterranean Conference on Control and Automation (MED) 2013.. Platanias-Chani. Greece. Jun, 2013.
D.Blanco; C.Castejon; S.Kadhim; L.Moreno. Predesign of an Anthropomorphic Lightweight Manipulator. 8th International Conference on Climbing and Walking Robots and the support Technologies for Mobile Machines (CLAWAR 2005). London. U.K.. Sep, 2005.
C.Castejon; D.Blanco; B.L.Boada; L.Moreno. Voronoi Extraction of Free-way Areas in Cluttered Environments. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2005). Edmonton. Canada. Aug, 2005. . ISBN: 0-7803-8913-1. . pp.0-0. 0000.
E.Dapena; L.Moreno. Probability of success and uncertainty analysis in Path Planning
. IEEE International Conference on Robotics and Automation, ICRA 2003. Taipei. Taiwan. Sep, 2003.
B.L.Boada; C.Castejon; D.Blanco; L.Moreno. A Genetic Solution for the SLAM Problems
. 11th International Conference on Advanced Robotics, ICAR 2003 . Coimbra. Portugal. Jun, 2003. . ISBN: 972-96889-8-2. . pp.0-0. 2003.
C.Castejon; D.Blanco; B.L.Boada; L.Moreno. Traversability analysis technics in outdoor environments: a comparative study.. 11th International Conference on Advanced Robotics, ICAR 2003. Coimbra. Portugal. Jun, 2003. . ISBN: 972-96889-8-2. . pp.0-0. 2003.
C.Castejon; B.L.Boada; D.Blanco; L.Moreno. Traversable regions model for outdoor robots.. 11th International Conference on Advanced Robotics, ICAR 2003 . Coimbra. Portugal. Jun, 2003. . ISBN: 972-96889-8-2. . pp.0-0. 2003.