A framework for intuitive collaboration with a mobile manipulator

Benjamin Navarro; Andrea Cherubini; Aïcha Fonte; Gérard Poisson; Philippe Fraisse

IROS 2017poster32 citations

A framework for intuitive collaboration with a mobile manipulator

Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Gérard Poisson, Philippe Fraisse

Abstract

In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.

BibTeX

@inproceedings{iros2017_aframeworkforint,
  title = {A framework for intuitive collaboration with a mobile manipulator},
  author = {Benjamin Navarro and Andrea Cherubini and Aïcha Fonte and Gérard Poisson and Philippe Fraisse},
  booktitle = {IROS 2017},
  year = {2017}
}