Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation

Wolfgang Merkt, Vladimir Ivan, Yiming Yang, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

While widely studied in robotics for decades, mobile manipulation has recently seen a surge in interest for industrial applications due to increasing demands on flexibility and agility alongside productivity, particularly in small and medium enterprises. However, most mobile manipulation solutions frequently decouple the navigation from the manipulation problem effectively performing fixed-base manipulation using a repositionable manipulator. This is not only inefficient, but moreover limits the range of applications and disregards the inherent redundancy of a mobile manipulation system.

In this work, we introduce a high-performance omnidirectional mobile manipulation platform with integrated whole-body control, real-time collision-free whole-body motion planning, and perception. We demonstrate its capability along with
application scenarios on technical demonstrators involving moving manipulation targets as well as whole-body manipulation in simulation and hardware experiments. Finally, we deploy and evaluate our solution in field trials on an industrial oil and gas training facility on a sensor placement and manipulation task.
Original languageEnglish
Title of host publication2019 IEEE 14th International Conference on Automation Science and Engineering (CASE)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1206-1211
Number of pages6
ISBN (Electronic)978-1-7281-0356-3
ISBN (Print)978-1-7281-0357-0
DOIs
Publication statusPublished - 19 Sep 2019
Event2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) - Vancouver, Canada
Duration: 22 Aug 201926 Aug 2019
http://case2019.hust.edu.cn/index.htm

Publication series

Name
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
Abbreviated titleCASE 2019
CountryCanada
CityVancouver
Period22/08/1926/08/19
Internet address

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