a. What is a mobile manipulator?
b. Service robots: mobile manipulators, humanoid robots.
2. Kinematic and dynamic: mobile base -manipulator coordination. Control architectures.
a. Perception: vision, telemetry.
b. Environment modeling. The three-dimensional problem.
c. Planning, navigation and location of mobile manipulators.
4. Manipulation and interaction control
a. Perception: vision, force sensors.
b. Force control
d. Perception and modeling of the objects to be manipulated
e. Perception-action integration
5. Human-robot interaction in navigation and manipulation
6. Real applications. Projects related to mobile manipulators