Hyundai mobis

Goal of this project

• Mobile manipulators commonly show disadvantages such as limited locomotion capabilities on uneven terrains and restricted manipulation capabilities for objects positioned outside the vertical direction of their workspace. To address these limitations, this paper proposes a control framework for mobile manipulator incorporating four lifts, one at each wheel. This configuration enhances the Degrees of Freedom (DoF) available for locomotion and manipulation tasks. To optimize the whole-body motion of the manipulator, we modified the Generalized Hierarchical Control (GHC) method to include the function of adjusting the weights of the joints. 

Project Contents

Whole body velocity control of mobile manipulator for dynamic stability implementation

• Corner module-based mobile manipulator (manipulator 6 degrees of freedom , mobile 12 degrees of freedom)

• mobile robot 6D pose estimation using kalman filter with IMU and encoders

• qp based hierarchical controller utilizing the redundancy of mobile manipulator to perform multitasks

• Considering joint weights for tasks assigned to each priority level to perform desired whole body motions