相关论文: Planning an Efficient and Robust Base Sequence for…

In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…

In many applications, a mobile manipulator robot is required to grasp a set of objects distributed in space. This may not be feasible from a single base pose and the robot must plan the sequence of base poses for grasping all objects,…

We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of…

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to…

We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…

Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inherent actuation errors in joint space, robots cannot achieve…

We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods…

We introduce a new approach to tackle the mobile manipulator task sequencing problem. We leverage computational geometry, graph theory and combinatorial optimization to yield a principled method to segment the task-space targets into…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…

Mobile manipulators have gained attention for the potential in performing large-scale tasks which are beyond the reach of fixed-base manipulators. The Robotic Task Sequencing Problem for mobile manipulators often requires optimizing the…

Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Continuum manipulators have gained significant attention as a promising alternative to rigid manipulators, offering notable advantages in terms of flexibility and adaptability within intricate workspace. However, the broader application of…

Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…

This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…

We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…

We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic…

This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…

In this paper we investigate the problem of simultaneously allocating orders and mobile storage racks to static pickers. Here storage racks are allocated to pickers to enable them to pick all of the products for the orders that have been…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…