Browse > Article
http://dx.doi.org/10.7746/jkros.2021.16.4.313

Efficient Base Repositioning for Mobile Manipulation based on Inverse Reachability  

Jung, Hong-ryul (Mechanical Engineering, Sungkyunkwan University)
Jeon, Jeongmin (Mechanical Engineering, Sungkyunkwan University)
Yumbla, Francisco (Mechanical Engineering, Sungkyunkwan University)
Moon, Hyungpil (Mechanical Engineering, Sungkyunkwan University)
Publication Information
The Journal of Korea Robotics Society / v.16, no.4, 2021 , pp. 313-318 More about this Journal
Abstract
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.
Keywords
Inverse Reachability Map; Manipulability; Mobile Manipulation;
Citations & Related Records
연도 인용수 순위
  • Reference
1 N. Vahrenkamp, T. Asfour, G. Metta, G. Sandini, and R. Dillmann, "Manipulability Analysis," 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, pp. 568-573, 2012, DOI: 10.1109/HUMANOIDS.2012.6651576.   DOI
2 F. Paus, P. Kaiser, N. Vahrenkamp, and T. Asfour, "A combined approach for robot placement and coverage path planning for mobile manipulation," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, pp. 6285-6292, 2017, DOI: 10.1109/IROS.2017.8206531.   DOI
3 D.-M. Choi, J. Jeon, E.-S. Lee, and H. Moon, "Knowledge Based Manipulation for Service Robots," Korean Society for Precision Engineering, Gwangju, Gyeonggi-do, Korea, pp. 716-717, 2017, [Online], https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE07301195.
4 N. Vahrenkamp, T. Asfour, and R. Dillmann, "Robot Placement based on Reachability Inversion," 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 1970-1975, 2013, DOI: 10.1109/ICRA.2013.6630839.   DOI
5 M. Mittal, D. Hoeller, F. Farshidian, M. Hutter, and A. Garg, "Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation," arXiv:2103.10534, 2021, [Online], http://arxiv.org/abs/2103.10534.
6 D. Honerkamp, T. Welschehold, and A. Valada, "Learning Kinematic Feasibility for Mobile Manipulation Through Deep Reinforcement Learning," IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 6289-6296, Oct., 2021, DOI: 10.1109/LRA.2021.3092685.   DOI
7 A. Makhal and A. K. Goins, "Reuleaux: Robot Base Placement by Reachability Analysis," 2018 Second IEEE International Conference on Robotic Computing (IRC), Laguna Hills, CA, USA, pp. 137-142, 2018, DOI: 10.1109/IRC.2018.00028.   DOI
8 M. Forstenhausler, T. Werner, and K. Dietmayer, "Optimized Mobile Robot Positioning for better Utilization of the Workspace of an attached Manipulator," 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, USA (Virtual Conference), pp. 2074-2079, 2020, DOI: 10.1109/AIM43001.2020.9158922.   DOI
9 F. Burget and M. Bennewitz, "Stance selection for humanoid grasping tasks by inverse reachability maps," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, pp. 5669-5674, 2015, DOI: 10.1109/ICRA.2015.7139993.   DOI
10 F. Burget and M. Bennewitz, "Stance selection for humanoid grasping tasks by inverse reachability maps," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, pp. 5669-5674, 2015, DOI: 10.1109/ICRA.2015.7139993.   DOI
11 M. V. Minniti, F. Farshidian, R. Grandia, and M. Hutter, "Whole-Body MPC for a Dynamically Stable Mobile Manipulator," IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 4, pp. 3687-3694, Oct., 2019, DOI: 10.1109/LRA.2019.2927955.   DOI
12 C. R. Garrett, T. Lozano-Perez, and L. P. Kaelbling, "FFRob: Leveraging symbolic planning for efficient task and motion planning," The International Journal of Robotics Research, vol. 37, no. 1, pp. 104-136, Jan., 2018, DOI: 10.1177/0278364917739114.   DOI