An Architecture for Reactive Mobile Manipulation On-The-Move
Ben Burgess-Limerick,Chris Lehnert,Jürgen Leitner,Peter Corke,Ben Burgess-Limerick,Chris Lehnert,Jürgen Leitner,Peter Corke
We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods where the base pauses during manipulation. Reactive control of the manipulator enables grasping objects with unpredictable motion while improving robustness against...
