相关论文: Whole-Body Control on Non-holonomic Mobile Manipul…

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…

Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model…

Dormant season grapevine pruning requires skilled seasonal workers during the winter season which are becoming less available. As workers hasten to prune more vines in less time amid to the short-term seasonal hiring culture and low wages,…

A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…

Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied…

The adoption of mobile robotic platforms in complex environments, such as agricultural settings, requires these systems to exhibit a flexible yet effective architecture that integrates perception and control. In such scenarios, several…

In this paper, we propose a unified whole-body control framework for velocity-controlled mobile collaborative robots which can distribute task motion into the arm and mobile base according to specific task requirements by adjusting…

There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous…

Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…

In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…

We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…

Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based crops. A position-agnostic system is proposed to address the…

There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…

Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…

In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, maneuvering such systems with mobile manipulators (MM) is…

Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…

Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This paper presents a…

Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…

Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…