Title :
Dexterous mobility with the uBot-5 mobile manipulator
Author :
Kuindersma, Scott R. ; Hannigan, Edward ; Ruiken, Dirk ; Grupen, Roderic A.
Author_Institution :
Dept. of Comput. Sci., Univ. of Massachusetts, Amherst, MA, USA
Abstract :
We present an initial demonstration of dexterous mobility using the uBot-5, a dynamically balancing mobile manipulator. Dexterous mobility refers generally to a level of bodily resourcefulness that permits the autonomous reassignment of effectors for the purpose of maintaining mobility in a variety of situations. We begin by describing a set of postural stability controllers in terms of a small number of simple control objectives. We then show how the resulting postures support dexterous mobility by enabling a new ldquoknuckle walkingrdquo mobility mode. In a preliminary experiment, we develop this mobility mode by formulating a practical reinforcement learning problem that allows the robot to learn an efficient gait on-line in a single trial.
Keywords :
dexterous manipulators; mobile robots; stability; dexterous mobility; knuckle walking; postural stability control; uBot-5 mobile manipulator; Learning; Manipulator dynamics; Mobile robots; Stability;
Conference_Titel :
Advanced Robotics, 2009. ICAR 2009. International Conference on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-4855-5
Electronic_ISBN :
978-3-8396-0035-1