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Reactive Base Control for On-The-Move Mobile Manipulation in Dynamic Environments

We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. We demonstrate the systems performane in numerous real-world and simulated environments where other robots in the workspace present dynamic obstacles.

Temi Interaction


Video Link

Base Control for MotM Video

Experiment Layout

The figures below illustrate the dimensions of the real-world and simulated experimental arrangement. Experiment Layout Object Table

The images below show the location and order of the objects for each of the 10 real world trials.

Real World Trials

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