Robot navigation and manipulation in partially known indoor environments is usually organized as two complementary activities, local displacement control and global path planning. Both activities have to be connected across different space and time scales in order to obtain a smooth and responsive system that follows the path and adapts to the unforeseen situations imposed by the real world. There is not a clear consensus in how to do this and some important problems are still open. In this paper we present the first steps towards a new navigation agent controlling both the robot’s base and the arm. We address several of theses problems in the design of this agent, including robust localization integrating several information sources, incremental learning of free navigation and manipulation space, hand visual servoing in camera space to reduce backslash and calibration errors, and internal path representation as an elastic band that is projected to the real world through measurements of the sensors. A set of experiments are presented with the robot Ursus in real and simulated scenarios showing some encouraging results.
|Title of host publication||Robot 2015: Second Iberian Robotics Conference|
|Editors||L. Reis, A. Moreira, P. Lima, L. Montano, V. Muñoz-Martinez|
|Publication status||Published - 28 Nov 2015|
|Event||Robot 2015: Second Iberian Robotics Conference - Lisbon, Portugal|
Duration: 19 Nov 2015 → 21 Nov 2015
|Conference||Robot 2015: Second Iberian Robotics Conference|
|Period||19/11/15 → 21/11/15|