Abstract
Our dual-arm mobile manipulator consists of two manipulators mounted atop a wheeled mobile platform with a stereo camera The original form of the mobile manipulator was built in our laboratory If a target object is placed beyond the motion range of the manipulator itself, the look-ahead control scheme will be evoked and automatically generate motion of the mobile platform such that the whole robot system will make an approach to the object until the arm comes close enough to the object With this proposed coordination scheme, visual sensing of the object and resulting approaching motion of the manipulator and the platform are integrated in a natural way This report presents preliminary results of the recognition performance of a stereo camera and the dual-arm mobile manipulator with simulation and experimental results of the new robot system.
