We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering the state of the constructed VKC, which can be converted to a motion planning problem, formulated, and solved by trajectory optimization. This new VKC perspective of mobile manipulation allows a service robot to (i) produce well-coordinated motions, suitable for complex household environments, and (ii) perform intricate multi-step tasks while interacting with multiple objects without an explicit definition of intermediate goals. In simulated experiments, we validate these advantages by comparing the VKC-based approach with baselines that solely optimize individual components. The results manifest that VKC-based joint modeling and planning promote task success rates and produce more efficient trajectories.
翻译:因此,移动操作任务可以通过改变已建成的VKC状态来体现。 VKC可以通过轨迹优化转换成运动规划问题、配制和解决。这种新的VKC移动操作视角允许服务机器人(一) 产生适合复杂家庭环境的协调良好的动作,(二) 在与多个天体进行互动时,不明确界定中间目标,执行复杂的多步任务。在模拟实验中,我们将基于VKC的方法与仅仅优化单个组成部分的基线进行比较,从而验证这些优势。结果显示基于VKC的联合模型和规划可以促进任务成功率并产生更有效的轨迹。