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

Wolfgang Merkt; Vladimir Ivan; Yiming Yang; Sethu Vijayakumar

doi:10.1109/COASE.2019.8843153

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 proceeding › Conference 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 language	English
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	https://doi.org/10.1109/COASE.2019.8843153
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
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)
Abbreviated title	CASE 2019
Country/Territory	Canada
City	Vancouver
Period	22/08/19 → 26/08/19
Internet address	http://case2019.hust.edu.cn/index.htm

Access to Document

10.1109/COASE.2019.8843153Licence: All Rights Reserved

Towards Shared Autonomy_MERKT_DoA160519_AFVAccepted author manuscript, 5.37 MB

https://ieeexplore.ieee.org/document/8843153Licence: All Rights Reserved

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)
EPSRC
1/10/17 → 31/03/22
Project: Research
Learning Robotic Motor Skills, Visual Control and Perception for Warehouse Automation
Vijayakumar, S. (Principal Investigator)
Non-EU other
1/04/17 → 31/12/20
Project: Research

Cite this

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title = "Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation",

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 withapplication 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.",

author = "Wolfgang Merkt and Vladimir Ivan and Yiming Yang and Sethu Vijayakumar",

year = "2019",

month = sep,

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doi = "10.1109/COASE.2019.8843153",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers",

pages = "1206--1211",

booktitle = "2019 IEEE 14th International Conference on Automation Science and Engineering (CASE)",

address = "United States",

note = "2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), CASE 2019 ; Conference date: 22-08-2019 Through 26-08-2019",

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Merkt, W, Ivan, V, Yang, Y & Vijayakumar, S 2019, Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. in 2019 IEEE 14th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers, pp. 1206-1211, 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), Vancouver, British Columbia, Canada, 22/08/19. https://doi.org/10.1109/COASE.2019.8843153

Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. / Merkt, Wolfgang; Ivan, Vladimir; Yang, Yiming et al.
2019 IEEE 14th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers, 2019. p. 1206-1211.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation

AU - Merkt, Wolfgang

AU - Ivan, Vladimir

AU - Yang, Yiming

AU - Vijayakumar, Sethu

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N2 - 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 withapplication 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.

AB - 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 withapplication 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.

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

Abstract

Publication series

Conference

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Projects

UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)

Learning Robotic Motor Skills, Visual Control and Perception for Warehouse Automation

Cite this