Projects per year
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.
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 language | English |
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Title of host publication | 2019 IEEE 14th International Conference on Automation Science and Engineering (CASE) |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 1206-1211 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-7281-0356-3 |
ISBN (Print) | 978-1-7281-0357-0 |
DOIs | |
Publication status | Published - 19 Sept 2019 |
Event | 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) - Vancouver, Canada Duration: 22 Aug 2019 → 26 Aug 2019 http://case2019.hust.edu.cn/index.htm |
Publication series
Name | |
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Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
ISSN (Print) | 2161-8070 |
ISSN (Electronic) | 2161-8089 |
Conference
Conference | 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) |
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Abbreviated title | CASE 2019 |
Country/Territory | Canada |
City | Vancouver |
Period | 22/08/19 → 26/08/19 |
Internet address |
Fingerprint
Dive into the research topics of 'Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation'. Together they form a unique fingerprint.Projects
- 2 Finished
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UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)
Vijayakumar, S. (Principal Investigator), Mistry, M. (Co-investigator), Ramamoorthy, R. (Co-investigator) & Williams, C. (Co-investigator)
1/10/17 → 31/03/22
Project: Research
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Learning Robotic Motor Skills, Visual Control and Perception for Warehouse Automation
Vijayakumar, S. (Principal Investigator)
1/04/17 → 31/12/20
Project: Research