Efficient Base Repositioning for Mobile Manipulation based on Inverse Reachability

2021 ◽  
Vol 16 (4) ◽  
pp. 313-318
Author(s):  
Hong-ryul Jung ◽  
Jeongmin Jeon ◽  
Francisco Yumbla ◽  
Hyungpil Moon
Keyword(s):  
Mobile Manipulation

scholarly journals Mobile Manipulation Hackathon: Moving into Real World Applications

2021 ◽  
pp. 2-14
Author(s):  
Maximo A. Roa ◽  
Mehmet R. Dogar ◽  
Jordi Pages ◽  
Carlos Vivas ◽  
Antonio Morales ◽  
...  
Keyword(s):  
Real World ◽  
Mobile Manipulation ◽  
Real World Applications

Modeling and Control for Mobile Manipulation in Everyday Environments

1998 ◽  
pp. 14-22 ◽  
Author(s):  
Wendelin Feiten ◽  
Björn Magnussen ◽  
Gregory D. Hager ◽  
Kentaro Toyama
Keyword(s):  
Mobile Manipulation ◽  
Modeling And Control ◽  
And Control

scholarly journals Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation *

2021 ◽  
Author(s):  
Tao Teng ◽  
Miguel Fernandes ◽  
Matteo Gatti ◽  
Stefano Poni ◽  
Claudio Semini ◽  
...  
Keyword(s):  
Whole Body ◽  
Mobile Manipulation

scholarly journals Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 157-173 ◽  
Author(s):  
V. Padois ◽  
J.-Y. Fourquet ◽  
P. Chiron
Keyword(s):  
Dynamic Models ◽  
Mobile Manipulation ◽  
Mobile Manipulators ◽  
Reactive Control ◽  
Unified Framework ◽  
Modelling Framework ◽  
On Line ◽  
Real Robot ◽  
Wheeled Mobile Manipulators ◽  
Line Switching

SUMMARYThe work presented in this paper aims at providing a unified modelling framework for the reactive control of wheeled mobile manipulators (WMM). Where most work in the literature often provides models, sometimes simplified, of a given type of WMM, an extensive description of obtaining explicit kinematic and dynamic models of those systems is given. This modelling framework is particularly well suited for reactive control approaches, which, in the case of mobile manipulation missions, are often necessary to handle the complexity of the tasks to be fulfilled, the dynamic aspect of the extended workspace and the uncertainties on the knowledge of the environment. A flexible reactive framework is thus also provided, allowing the sequencing of operational tasks (in our case, tasks described in the end-effector frame) whose natures are different but also an on-line switching mechanism between constraints that are to be satisfied using the system redundancy. This framework has been successfully implemented in simulation and on a real robot. Some of the obtained results are presented.

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