Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning
Ke Dong,Karime Pereida,Florian Shkurti,Angela P. Schoellig,Ke Dong,Karime Pereida,Florian Shkurti,Angela P. Schoellig
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed in slow-motion collaborative robot scenarios. In this paper, we consider scenarios where accurate high-speed motions are required. We introduce a framework for t...
