Motion Planning for Kinematically Redundant Mobile Manipulators with Genetic Algorithm, Pose Interpolation, and Inverse Kinematics

Vazquez-Santiago, Kyshalee; Goh, Chun Fan; Shimada, Kenji

doi:10.1109/case49439.2021.9551546

Cited by 8 publications

(2 citation statements)

References 25 publications

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“…A complete and complex model of the human is needed to take into account ergonomic requirements for a worker collaborating with a mobile manipulator [Peternel et al(2017)]. The coordinated motion of a mobile manipulator is planned offline for precise welding tasks [Vazquez-Santiago et al(2021)] or in real time [Li and Xiong(2021)]. Only the real-time solutions are suitable in the HRI context.…”

Section: Related Workmentioning

confidence: 99%

Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator

Truc

Sidobre

Alami

2023

Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

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In this paper, we present a coordinated and reactive human-aware motion planner for performing a handover task by an autonomous aerial manipulator (AAM). We present a method to determine the final state of the AAM for a handover task based on the current state of the human and the surrounding obstacles. We consider the visual field of the human and the effort to turn the head and see the AAM as well as the discomfort caused to the human. We apply these social constraints together with the kinematic constraints of the AAM to determine its coordinated motion along the trajectory.

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Section: Related Workmentioning

confidence: 99%

Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator

Truc

Sidobre

Alami

2023

Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

View full text Add to dashboard Cite

show abstract

“…There are some works whose methods of control focus on the manipulator’s end-effector. [ 28 ]. One of those works carries out sampling of the waypoint with the end-effector’s target position and orientation trajectory and implements an optimized planner using the Genetic Algorithm for continuous movement of the mobile manipulator.…”

Section: Related Workmentioning

confidence: 99%

Navigation Path Based Universal Mobile Manipulator Integrated Controller (NUMMIC)

Kim

Yang

et al. 2022

Sensors

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As the demand for service robots increases, a mobile manipulator robot which can perform various tasks in a dynamic environment attracts great attention. There are some controllers that control mobile platform and manipulator arm simultaneously for efficient performance, but most of them are difficult to apply universally since they are based on only one mobile manipulator model. This lack of versatility can be a big problem because most mobile manipulator robots are made by connecting a mobile platform and manipulator from different companies. To overcome this problem, this paper proposes a simultaneous controller which can be applied not only to one model but also to various types of mobile manipulator robots. The proposed controller has three main characteristics, which are as follows: (1) establishing a pose that motion planning can be carried out in any position, avoiding obstacles and stopping in a stable manner at the target coordinates, (2) preventing the robot from collision with surrounding obstacles while driving, (3) defining a safety area where the manipulator does not hit the obstacles while driving and executing the manipulation accordingly. Our controller is fully compatible with Robot Operating System (ROS) and has been used successfully with three different types of mobile manipulator robots. In addition, we conduct motion planning experiments on five targets, each in two simulation worlds, and two motion planning scenarios using real robots in real-world environments. The result shows a significant improvement in time compared to existing control methods in various types of mobile manipulator and demonstrates that the controller works successfully in the real environment. The proposed controller is available on GitHub.

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Scalable Motion Planning and Task-Oriented Coordination Scheme for Mobile Manipulators in Smart Manufacturing

Yu,

Chang

2023

J Intell Robot Syst

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Motion Planning for Kinematically Redundant Mobile Manipulators with Genetic Algorithm, Pose Interpolation, and Inverse Kinematics

Cited by 8 publications

References 25 publications

Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator

Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator

Navigation Path Based Universal Mobile Manipulator Integrated Controller (NUMMIC)

Scalable Motion Planning and Task-Oriented Coordination Scheme for Mobile Manipulators in Smart Manufacturing

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