Mobile Manipulator

I have experience in the real-time perception, wholebody planning and control for mobile manipulators with differential base. Some videos about my projects and research on mobile manipulator are listed as follows.

RAMPAGE: Towards Whole-body, Real-Time and Agile Motion Planning in Dynamic Cluttered Environments for Mobile Manipulators

  This research is to allow the mobile manipulator to finish manipulation tasks while avoiding the collision in 3D dynamic environment with only onboard sensing. More supplementary materials are here.

Open the door while rejecting random disturbance with a mobile manipulator

  Manually design a door-opening trajectory and use a whole-body admittance controller to track. By detecting the force on the end-effector of the mobile manipulator, the whole body can respond smoothly to external disturbance.

Graceful wholebody pick-and-place for mobile manipulator

  Jointly consider the manipulability, energy, manipulator orientation and path tracking in the QP solvers. The dynamic-weighted QP is implemented based on the tracking error to achieve graceful picking-and-placing. This project follows this work of Peter Corke.

Learning the coordination motion of mobile manipulators through human demonstration

  This research is to allow the mobile manipulator’s skill learning process with features of large-scale convergence, coordination working and disturbance rejection, after just a few human demonstrations.