Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations

• URL: http://arxiv.org/abs/2108.01264v3
• Date: Tue, 10 Aug 2021 07:57:11 GMT
• Title: Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
• Authors: Ziyuan Jiao, Zeyu Zhang, Xin Jiang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu
• Abstract summary: We construct a Virtual Kinematic Chain (VKC) that consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. A mobile manipulation task is represented by altering the state of the constructed VKC, which can be converted to a motion planning problem.
• Score: 96.03270112422514
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering the state of the constructed VKC, which can be converted to a motion planning problem, formulated, and solved by trajectory optimization. This new VKC perspective of mobile manipulation allows a service robot to (i) produce well-coordinated motions, suitable for complex household environments, and (ii) perform intricate multi-step tasks while interacting with multiple objects without an explicit definition of intermediate goals. In simulated experiments, we validate these advantages by comparing the VKC-based approach with baselines that solely optimize individual components. The results manifest that VKC-based joint modeling and planning promote task success rates and produce more efficient trajectories.

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