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Mobile manipulator systems hold promise in many industrial and service applications including assembly , inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base places special demands on the vehicle's drive system. For smooth accurate motion and coordination with an on-board manipula-tor, a holonomic(More)
Mobile manipulation capabilities are key t o many new applications of robotics in space, underwater, construction , and service environments. This article discusses the ongoing effort at Stanford University f o r the development of multiple mobile manipulation systems and presents the basic models and methodologies for their analysis and control. This work(More)
Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This article discusses the ongoing effort at Stanford University for the development of multiple mobile manipulation systems and presents the basic models and methodologies for their analysis and control. This work(More)
in The augmented object model provided the basis for effective cooperation between multiple robots. These robots were assumed to have a single serial-chain structure. In this paper we discuss the augmented object model in the context of mechanisms involving multiple branches such as humanoid robots and parallel mechanisms. An application of the proposed(More)
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