Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm

Paolo Di Lillo; Francesco Pierri; Fabrizio Caccavale; Gianluca Antonelli

IROS 2020poster4 citations

Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm

Paolo Di Lillo, Francesco Pierri, Fabrizio Caccavale, Gianluca Antonelli

Abstract

In this paper an experimental study of set-based task-priority kinematic control for a dual-arm mobile robot is developed. The control strategy for the coordination of the two manipulators and the mobile base relies on the definition of a set of elementary tasks to be properly handled depending on their functional role. In particular, the tasks have been grouped into three categories: safety, operational and optimization tasks. The effectiveness of the resulting task hierarchy has been validated through experiments on a Kinova Movo robot, in a domestic use case scenario.

BibTeX

@inproceedings{iros2020_experimentsonwho,
  title = {Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm},
  author = {Paolo Di Lillo and Francesco Pierri and Fabrizio Caccavale and Gianluca Antonelli},
  booktitle = {IROS 2020},
  year = {2020}
}