Download "Cooperative Transportation with Mobile Manipulator: Physical Human-Robot Collaboration"
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Description:
In this video, we present a physical-human robot collaboration framework for the transportation task with mobile manipulators. To solve the redundancy of the mobile manipulator, the dexterity of the robot, formation of the human-robot system and obstacle avoidance of the mobile robot are considered. To make the optimization process quicker, Capability Map is queried to get the seed of the optimization algorithm. In this way, the optimization algorithm will start with a sub-optimal solution, which effectively speeds up the optimization process and avoids local minimum. The proposed motion planner is self-contained. It only relies on the onboard sensors and computer, and can be deployed to the transportation task with multiple mobile manipulators.
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