로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제16권4호
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  • Pages.313-318
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  • 2021
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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모바일 조작 작업을 위한 역접근성 기반의 효율적인 베이스 재배치 방법

Efficient Base Repositioning for Mobile Manipulation based on Inverse Reachability

  • 투고 : 2021.09.01
  • 심사 : 2021.11.08
  • 발행 : 2021.11.30
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초록

This paper proposes a new method to generate inverse reachability maps that are more efficient for mobile manipulators than the previous algorithms. The base positioning is important to perform the given tasks. Using the inverse reachability method, we can know where to place the robot's base for given tasks. For example, the robot successfully performed the task with relocation, even when the target is initially in a low manipulability area or outside the workspace. However, there are some inefficiencies in the online process of the classical inverse reachability method. We describe what inefficiencies appear in the online phase and how to change the offline process to make the online efficient. Moreover, we demonstrate that the proposed approach achieves better performance than usual inverse reachability approaches for mobile manipulation. Finally, we discuss the limitations and advantages of the proposed method.

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과제정보

This work was supported by the Ministry of Trade, Industry and Energy (MOTIE) and the Korea Evaluation Institute of Industrial Technology (KEIT) under grants '10077538'

참고문헌

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