Experiments with nonholonomic manipulation

Abstract

This paper summarizes ongoing work with a mo- bile manipulator (Mobipulator ). We describe the sys- tem architecture of the latest version of the robot, a hierarchy of robot motion commands (the Mobipula- tion library) that can be snapped together to generate complicated paths easily, a configuration space plan- ner that plans wheel motions to manipulate paper, and a visual servoing system to monitor and correct errors in robot motion.