Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective
Ziyuan Jiao,Zeyu Zhang,Weiqi Wang,David Han,Song-Chun Zhu,Yixin Zhu,Hangxin Liu,Ziyuan Jiao,Zeyu Zhang,Weiqi Wang,David Han,Song-Chun Zhu,Yixin Zhu,Hangxin Liu
We present a Virtual Kinematic Chain (VKC) perspective, a simple yet effective method, to improve task planning efficacy for mobile manipulation. By consolidating the kinematics of the mobile base, the arm, and the object being manipulated collectively as a whole, this novel VKC perspective naturally defines abstract actions and eliminates unnecessary predicates in describing intermediate poses. A...
