Whole-body motion planning of dual-arm mobile manipulator for compensating for door reaction force
Keywords: mobile manipulation, whole-body planning, door traversal
Abstract: Door traversal is one of the representative benchmark tasks for mobile manipulators. However, it is still challenging since it requires to compute the coupled motion of the whole-body of the robot and door. Furthermore, in the case of heavy doors, not only kinematic constraints should be considered, but also the reaction force from the door should be considered for the balance of the robot. This work proposes a framework that plans the whole-body motion of dual-arm mobile manipulator utilizing dual-arm contact for traversing through the door. The framework is based on our previous work which generates the whole-body motion of single-arm mobile manipulator to approach, open, pass through, and close the door. The framework first computes the path for the pose of the mobile robot, the path for the door angle, and the path for the contact point by using the graph search algorithm. In graph search, an integer value called contact pair is introduced as an element of the state, which indicates where each arm contacts with the door or the environment. Then, the framework calculates the configuration of the arm by using inverse kinematics solver. The effectiveness of the proposed framework was validated through experiments in simulation environment.
Submission Number: 7
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