Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
Ziyuan Jiao,Zeyu Zhang,Xin Jiang,David Han,Song-Chun Zhu,Yixin Zhu,Hangxin Liu,Ziyuan Jiao,Zeyu Zhang,Xin Jiang,David Han,Song-Chun Zhu,Yixin Zhu,Hangxin Liu
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 perspectiv...
