{"type":"ScholarlyArticle","title":"Planning Considerations for a Roving Robot with Arm","authors":[{"name":"Richard A. Lewis","slug":"richard-a-lewis","given":"Richard A.","family":"Lewis","affiliation":""},{"name":"Antal K. Bejczy","slug":"antal-k-bejczy","given":"Antal K.","family":"Bejczy","affiliation":""}],"abstract":"The Jet Propulsion L a b ora tor y is engage d in a r o bot res ea r c h program. The program is aimed a t the development and demonstration o f technology required t o int eg rat e a variety of rob o tic functions (locomotion, manipulation, sensing and perception, decision making, and man - robot intera c ti on ) int o a working robot unit operating in a r ea l wo rld environment and dealing with both man-mad e and natural objects. This paper bri e fly describes the h a rdwar e and software system architecture of the robot breadboard and summarizes the developments to date. The content of the pap er is focused on th e unique planning co nsiderations inv o lved in incorporating a manipulator as part of an autonomous r obo t system. In particular, the effects of system architecture, arm traje c tory ca l culations, and a rm dynam ics a nd co ntrol are discussed in the con text o f pl an ning arm motion in complex and changing sensory and workspace environments . KEY TERMS: Robot system; Robot system planning; Robot breadb oard architecture; Arm m otion planning; Arm control; Arm dynamics; Sensors for manipulation; Manipulating in natural and constrained environment.","doi":null,"url":"https://ijcai.org/proceedings/1973/40","pdf":"https://ijcai.org/proceedings/1973/0040.pdf","markdown":"https://ijcai.org/proceedings/1973/40.md","bibtex":"https://ijcai.org/proceedings/1973/bibtex/40","volume":{"slug":"1973","title":"Proceedings of the Third International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1973","url":"https://ijcai.org/proceedings/1973/","year":1973,"location":"Stanford, California, USA","dates":"20-23 August 1973","editors":"Nils J. Nilsson","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robot I mplementations","track":"Robot I mplementations","number":40,"pages":{"first":308,"last":315},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}