mihailp @ seas.upenn.edu   +1-412-805-0210            Curriculum Vitae

Mobile Manipulation

Mobile manipulation systems combine the utility of mobile robots and robotic arms, and can perform tasks that neither robot type is capable of in isolation. We explore the development and application of motion primitives to this domain as a means of constraint satisfaction and dimensionality reduction.

Acknowledgements: NASA GSRP Fellowship, JPL SURP
   NASA logo JPL logo

Constrained Base Planning

constrained base planning
Differential constraints and cluttered environments pose additional difficulty to planning for mobile manipulation. We developed a framework for connecting efficient constrained planners in our related work to arbitrary arm planners, while guaranteeing maximization of a user-defined measure of combined approach and manipulation quality.


Rover Instrument Placement

instrument placement
Field experimentation was performed in combining rough terrain navigation with manipulation in the context of planetary rover instrument placement. A fully functional system was tested in JPL's Mars Yard.

See publications on this topic.