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Comparison of Registration Methods for Mobile Manipulators



Roger V. Bostelman, Roger Eastman, Tsai H. Hong, Omar Aboul-Enein, Steven A. Legowik, Sebti Foufou


Mobile manipulators can be effective, efficient and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-in-hole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an AGV-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifacts) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.
Proceedings Title
Climbing and Walking Robots (CLAWAR) 2016 Workshop on Collaborative Robots for Industrial Applications
Conference Dates
September 12-16, 2016
Conference Location
London, UK


performance measurement, mobile manipulator, artifact, docking, standards, assembly


Bostelman, R. , Eastman, R. , Hong, T. , Aboul-Enein, O. , Legowik, S. and Foufou, S. (2016), Comparison of Registration Methods for Mobile Manipulators, Climbing and Walking Robots (CLAWAR) 2016 Workshop on Collaborative Robots for Industrial Applications, London, UK, [online], (Accessed April 16, 2024)
Created September 15, 2016, Updated April 1, 2022