Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment

Stibinger, Petr; Broughton, George; Majer, Filip; Rozsypálek, Zdeněk; Wang, Anthony; Jindal, Kshitij; Zhou, Alex; Thakur, Dinesh; Loianno, Giuseppe; Saska, Martin

doi:10.1109/lra.2021.3061377

Cited by 51 publications

(17 citation statements)

References 41 publications

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“…So far, progress of control algorithms for good tracking enactment is thought-provoking chore on account of dynamic-model of mobman with indeterminate state. Essentially consisting state disparity restraints enforced on mobman crusade and basic uncertain self-motivated equation [8], [9]. Physical uncertainty started by anonymous payload captured by end effector in spite of the fact that the state inequality confinements began in workspace because of the nearness of anonymous issues.…”

Section: Issn: 2302-9285mentioning

confidence: 99%

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

et al. 2022

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This effort addresses and uses a robust-trajectory-tracking control system for kinematically redundant location tracking of a mobile manipulator (mobman) in its task space in the presence of parameter uncertainties and external disturbances. It consists of a serial manipulator with four degrees of freedom (DOF) fixed on three DOF mobile bases. A robust tracking control is achieved using the configuration of a non-singular terminal sliding mode (NSTSM) control for the entire non-linear model of a mobman. Because of the non-linear added term in the linear sliding surface, which reflects in the non-linear sliding mode known as terminal sliding mode (TSM), this control preparation satisfies systems states finite time convergence. Similarly, conventional terminal sliding mode control (CTSMC) entail singularity trouble, which is tackled by the control scheme. (Computer based) simulations are used to demonstrate the convenience, feasibility, and robustness of given techniques.

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Section: Issn: 2302-9285mentioning

confidence: 99%

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

et al. 2022

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“…Because of the mobile manipulator’s capability, various related studies are conducted on the premise that it is used at different fields. The many fields of application include industry [ 18 , 19 ], which is mentioned above, but also construction [ 20 ], agriculture [ 21 , 22 , 23 ], disaster [ 24 ], and healthcare [ 25 , 26 ].…”

Section: Related Workmentioning

confidence: 99%

Navigation Path Based Universal Mobile Manipulator Integrated Controller (NUMMIC)

Kim

Yang

et al. 2022

Sensors

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As the demand for service robots increases, a mobile manipulator robot which can perform various tasks in a dynamic environment attracts great attention. There are some controllers that control mobile platform and manipulator arm simultaneously for efficient performance, but most of them are difficult to apply universally since they are based on only one mobile manipulator model. This lack of versatility can be a big problem because most mobile manipulator robots are made by connecting a mobile platform and manipulator from different companies. To overcome this problem, this paper proposes a simultaneous controller which can be applied not only to one model but also to various types of mobile manipulator robots. The proposed controller has three main characteristics, which are as follows: (1) establishing a pose that motion planning can be carried out in any position, avoiding obstacles and stopping in a stable manner at the target coordinates, (2) preventing the robot from collision with surrounding obstacles while driving, (3) defining a safety area where the manipulator does not hit the obstacles while driving and executing the manipulation accordingly. Our controller is fully compatible with Robot Operating System (ROS) and has been used successfully with three different types of mobile manipulator robots. In addition, we conduct motion planning experiments on five targets, each in two simulation worlds, and two motion planning scenarios using real robots in real-world environments. The result shows a significant improvement in time compared to existing control methods in various types of mobile manipulator and demonstrates that the controller works successfully in the real environment. The proposed controller is available on GitHub.

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“…MBZIRC 2020: (Stibinger et al, 2021) developed a UGV for the MBZIRC 2020 Challenge 2. The robot uses a 3D LiDAR sensor for environment sensing and an RGB-D sensor mounted at the endeffector for visual feedback during the grasping process.…”

Section: Related Workmentioning

confidence: 99%

Autonomous Wall-building and Firefighting: Team NimbRo’s UGV Solution for MBZIRC 2020

Lenz¹,

Quenzel²,

Periyasamy³

et al. 2022

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Autonomous robotic systems for various applications including transport, mobile manipulation, and disaster response are becoming more and more complex. Evaluating and analyzing such systems is challenging. Robotic competitions are designed to benchmark complete robotic systems on complex state-of-the-art tasks. Participants compete in defined scenarios under equal conditions. We present our UGV solution developed for the Mohamed Bin Zayed International Robotics Challenge 2020. Our hardware and software components to address the challenge tasks of wall-building and firefighting are integrated into a fully autonomous system. The robot consists of a wheeled, omnidirectional base, a 6 DoF manipulator arm equipped with a magnetic gripper, a highly efficient storage system to transport box-shaped objects, and a water-spraying system to extinguish fires. The robot perceives its environment using 3D LiDAR, as well as RGB and thermal camera-based perception modules and is capable of picking box-shaped objects and constructing a pre-defined wall structure. Its sensor modules also facilitate detecting and localizing heat sources to extinguish potential fires. A high-level planner coordinates and applies the robot’s skills to complete the Challenge tasks. We analyze and discuss our successful participation during the MBZIRC 2020 finals, present further experiments, and provide insights to our lessons learned.

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Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment

Cited by 51 publications

References 41 publications

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

Navigation Path Based Universal Mobile Manipulator Integrated Controller (NUMMIC)

Autonomous Wall-building and Firefighting: Team NimbRo’s UGV Solution for MBZIRC 2020

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