Dynamical Obstacle Avoidance of Task- Constrained Mobile Manipulation Using Model Predictive Control
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2925428
Abstract: Task-constrained motion planning (TCMP) is involved in many practical applications, such as opening the door, opening the drawer, twisting the screw, and so on. Because of the trend of man–machine collaboration and the existence of… read more here.
Keywords: manipulation; control; task constrained; mobile manipulation ... See more keywords
Perceptive Model Predictive Control for Continuous Mobile Manipulation
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3010721
Abstract: A mobile robot needs to be aware of its environment to interact with it safely. We propose a receding horizon control scheme for mobile manipulators that tracks task space reference trajectories. It uses visual information… read more here.
Keywords: perceptive model; control; predictive control; mobile manipulation ... See more keywords
Robot Learning of Mobile Manipulation With Reachability Behavior Priors
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3188109
Abstract: Mobile Manipulation (MM) systems are ideal candidates for taking up the role of personal assistants in unstructured real-world environments. Among other challenges, Mobile Manipulation (MM) requires effective coordination of the robot’s embodiments for executing tasks… read more here.
Keywords: reachability; learning mobile; manipulation; policy ... See more keywords
Combining Navigation and Manipulation Costs for Time-Efficient Robot Placement in Mobile Manipulation Tasks
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DOI: 10.1109/lra.2022.3191215
Abstract: Mobile manipulation tasks require a seamless integration of navigation and manipulation capabilities. Finding suitable robot placements to pick up and place objects in such tasks is crucial for time-efficient task execution. Sub-optimal robot placements result… read more here.
Keywords: time; manipulation tasks; manipulation; mobile manipulation ... See more keywords
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3264758
Abstract: Mobile manipulation in robotics is challenging due to the need to solve many diverse tasks, such as opening a door or picking-and-placing an object. Typically, a basic first-principles system description of the robot is available,… read more here.
Keywords: task learning; model; multi task; bayesian multi ... See more keywords