Files and links (1)
SubmittedOpen Access (License Unspecified), Open
Conference proceeding
Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 979-985
27 Sep 2021
Featured in Collection : UN Sustainable Development Goals @ Drexel
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.
Metrics
Details
- Title
- Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
- Creators
- Ziyuan Jiao - UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA),Statistics DepartmentZeyu Zhang - UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA),Statistics DepartmentXin Jiang - UCLA,ECE DepartmentDavid Han - Drexel UniversitySong-Chun Zhu - UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA),Statistics DepartmentYixin Zhu - UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA),Statistics DepartmentHangxin Liu - UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA),Statistics DepartmentIEEE
- Publication Details
- 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 979-985
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Web of Science ID
- WOS:000755125500098
- Scopus ID
- 2-s2.0-85113477299
- Other Identifier
- 991019168592104721
UN Sustainable Development Goals (SDGs)
This publication has contributed to the advancement of the following goals:
InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Automation & Control Systems
- Computer Science, Artificial Intelligence
- Engineering, Electrical & Electronic
- Robotics