@inproceedings{cf734b76a6484eb881793766b76e3e77,
title = "Coordinated Control for Graceful Motion of a Mobile Manipulator",
abstract = "The mobile manipulator holds potential for executing multi-scene operational tasks through the collaborative movement of both the mobile base and manipulator. However, the conventional sequential base-manipulator control method for mobile manipulator is restricted in speed and gracefulness by the need for the mobile base to stop moving before the manipulator starts moving. In contrast, humans effortlessly handle such tasks while walking or running, simultaneously managing secondary tasks such as avoiding obstacles, optimizing posture, and monitoring the environment. Regrettably, mobile manipulators lack this agile finesse displayed by humans. To address this shortfall, this paper introduces a coordinated motion planning method that considers the manipulator and mobile base as a whole structure based on the task-priority redundancy resolution and considers the optimal mobile base placement in navigation. The simulation results demonstrate that the suggested method significantly improves the speed, reliably, and task completion efficiency of the mobile manipulator.",
keywords = "Autonomous robots, Control strategies, Motion planning",
author = "Fujie Yu and Dianrui Wang and Chengxu Yang and Qining Wang",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 ; Conference date: 31-07-2024 Through 02-08-2024",
year = "2025",
doi = "10.1007/978-981-96-0783-9\_28",
language = "英语",
isbn = "9789819607822",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "411--423",
editor = "Xuguang Lan and Xuesong Mei and Caigui Jiang and Fei Zhao and Zhiqiang Tian",
booktitle = "Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings",
}