A Holistic Approach to Reactive Mobile Manipulation
Jesse Haviland, Niko Sünderhauf, Peter Corke
Abstract
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 the resulting motion. At the core of this approach is a robust and reactive motion controller which can achieve a desired end-effector pose, while avoiding joint position and velocity limits, and ensuring the mobile manipulator is manoeuvrable throughout the trajectory. This can support sensor-based behaviours such as closed-loop visual grasping. As no planning is involved in our approach, the robot is never stationary <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">thinking</i> about what to do next. We show the versatility of our holistic motion controller by implementing a pick and place system using behaviour trees and demonstrate this task on a 9-degree-of-freedom mobile manipulator. Additionally, we provide an open-source implementation of our motion controller for both non-holonomic and omnidirectional mobile manipulators available at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">jhavl.github.io/holistic</uri> .
BibTeX
@inproceedings{ral2022_aholisticapproac,
title = {A Holistic Approach to Reactive Mobile Manipulation},
author = {Jesse Haviland and Niko Sünderhauf and Peter Corke},
booktitle = {RA-L 2022},
year = {2022}
}