Paper on Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation accepted to CASE 2019

Wolfgang Merkt, Vladimir Ivan, Yiming Yang, and Sethu Vijayakumar. “Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation”, accepted to IEEE CASE 2019.

Publisher’s link – DOI: 10.1109/COASE.2019.8843153


While widely studied in robotics for decades, mobile manipulation has recently seen a surge in interest for industrial applications due to increasing demands on flexibility and agility alongside productivity, particularly in small and medium enterprises. However, most mobile manipulation solutions frequently decouple the navigation from the manipulation problem effectively performing fixed-base manipulation using a repositionable manipulator. This is not only inefficient, but moreover limits the range of applications and disregards the inherent redundancy of a mobile manipulation system.

In this work, we introduce a high-performance omnidirectional mobile manipulation platform with integrated whole-body control, real-time collision-free whole-body motion planning, and perception. We demonstrate its capability along with application scenarios on technical demonstrators involving moving manipulation targets as well as whole-body manipulation in simulation and hardware experiments. Finally, we deploy and evaluate our solution in field trials on an industrial oil and gas training facility on a sensor placement and manipulation task.

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author={Merkt, Wolfgang and Ivan, Vladimir and Yang, Yiming and Vijayakumar, Sethu},
title={\href{}{Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation}},
keywords={collision avoidance;manipulators;mobile robots;path planning;sensor placement;whole-body control formulations;locomanipulation;industrial applications;flexibility;mobile manipulation solutions;fixed-base manipulation;repositionable manipulator;inherent redundancy;mobile manipulation system;high-performance omnidirectional mobile manipulation platform;real-time collision-free whole-body motion planning;moving manipulation;whole-body manipulation;industrial oil;gas training facility;sensor placement;manipulation task;shared autonomy applications;Planning;Task analysis;Robot kinematics;Optimization;Aerospace electronics;Manipulators},