Simultaneous control algorithm for mobile manipulator using MMPPE

Sangheum Lee; Taehyeon Kim; Myunghyun Kim; Donghan Kim

doi:10.1109/ICEIC51217.2021.9369735

Simultaneous control algorithm for mobile manipulator using MMPPE

Sangheum Lee
, Taehyeon Kim
, Myunghyun Kim
, Donghan Kim

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper proposes the simultaneous control algorithm using Mobile Manipulator Pre-Pose Estimator (MMPPE). A conventional method is a sequential method in which the manipulator is controlled after the mobile platform moves. However, the proposed method recognizes the target pose in advance and predicts the posture of the manipulator and the mobile robot. It has more time efficiency than conventional sequential control method. By integrating this based on ROS and verify the algorithm using simulation.

Original language	English
Title of host publication	2021 International Conference on Electronics, Information, and Communication, ICEIC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728191614
DOIs	https://doi.org/10.1109/ICEIC51217.2021.9369735
Publication status	Published - 31 Jan 2021
Event	2021 International Conference on Electronics, Information, and Communication, ICEIC 2021 - Jeju, Korea, Republic of Duration: 31 Jan 2021 → 3 Feb 2021

Publication series

Name	2021 International Conference on Electronics, Information, and Communication, ICEIC 2021

Conference

Conference	2021 International Conference on Electronics, Information, and Communication, ICEIC 2021
Country/Territory	Korea, Republic of
City	Jeju
Period	31/01/21 → 3/02/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

HRI
Mobile manipulator
ROS
Simultaneous control

Access to Document

10.1109/ICEIC51217.2021.9369735

Cite this

Lee, S., Kim, T., Kim, M., & Kim, D. (2021). Simultaneous control algorithm for mobile manipulator using MMPPE. In 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021 Article 9369735 (2021 International Conference on Electronics, Information, and Communication, ICEIC 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEIC51217.2021.9369735

@inproceedings{85fb6fd6a3c244f398dd918b6a752556,

title = "Simultaneous control algorithm for mobile manipulator using MMPPE",

abstract = "This paper proposes the simultaneous control algorithm using Mobile Manipulator Pre-Pose Estimator (MMPPE). A conventional method is a sequential method in which the manipulator is controlled after the mobile platform moves. However, the proposed method recognizes the target pose in advance and predicts the posture of the manipulator and the mobile robot. It has more time efficiency than conventional sequential control method. By integrating this based on ROS and verify the algorithm using simulation.",

keywords = "HRI, Mobile manipulator, ROS, Simultaneous control",

author = "Sangheum Lee and Taehyeon Kim and Myunghyun Kim and Donghan Kim",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021 ; Conference date: 31-01-2021 Through 03-02-2021",

year = "2021",

month = jan,

day = "31",

doi = "10.1109/ICEIC51217.2021.9369735",

language = "English",

series = "2021 International Conference on Electronics, Information, and Communication, ICEIC 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2021 International Conference on Electronics, Information, and Communication, ICEIC 2021",

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}

Lee, S, Kim, T, Kim, M & Kim, D 2021, Simultaneous control algorithm for mobile manipulator using MMPPE. in 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021., 9369735, 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021, Institute of Electrical and Electronics Engineers Inc., 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021, Jeju, Korea, Republic of, 31/01/21. https://doi.org/10.1109/ICEIC51217.2021.9369735

Simultaneous control algorithm for mobile manipulator using MMPPE. / Lee, Sangheum; Kim, Taehyeon; Kim, Myunghyun et al.
2021 International Conference on Electronics, Information, and Communication, ICEIC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. 9369735 (2021 International Conference on Electronics, Information, and Communication, ICEIC 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Simultaneous control algorithm for mobile manipulator using MMPPE

AU - Lee, Sangheum

AU - Kim, Taehyeon

AU - Kim, Myunghyun

AU - Kim, Donghan

PY - 2021/1/31

Y1 - 2021/1/31

N2 - This paper proposes the simultaneous control algorithm using Mobile Manipulator Pre-Pose Estimator (MMPPE). A conventional method is a sequential method in which the manipulator is controlled after the mobile platform moves. However, the proposed method recognizes the target pose in advance and predicts the posture of the manipulator and the mobile robot. It has more time efficiency than conventional sequential control method. By integrating this based on ROS and verify the algorithm using simulation.

AB - This paper proposes the simultaneous control algorithm using Mobile Manipulator Pre-Pose Estimator (MMPPE). A conventional method is a sequential method in which the manipulator is controlled after the mobile platform moves. However, the proposed method recognizes the target pose in advance and predicts the posture of the manipulator and the mobile robot. It has more time efficiency than conventional sequential control method. By integrating this based on ROS and verify the algorithm using simulation.

KW - HRI

KW - Mobile manipulator

KW - ROS

KW - Simultaneous control

UR - https://www.scopus.com/pages/publications/85102973084

U2 - 10.1109/ICEIC51217.2021.9369735

DO - 10.1109/ICEIC51217.2021.9369735

M3 - Conference contribution

AN - SCOPUS:85102973084

T3 - 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021

BT - 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021

Y2 - 31 January 2021 through 3 February 2021

ER -

Lee S, Kim T, Kim M, Kim D. Simultaneous control algorithm for mobile manipulator using MMPPE. In 2021 International Conference on Electronics, Information, and Communication, ICEIC 2021. Institute of Electrical and Electronics Engineers Inc. 2021. 9369735. (2021 International Conference on Electronics, Information, and Communication, ICEIC 2021). doi: 10.1109/ICEIC51217.2021.9369735

Simultaneous control algorithm for mobile manipulator using MMPPE

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Keywords

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