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

• Enhanced a whole-body control framework to manage multiple tasks and joint weights at each priority level, improving arm workspace and enabling terrain-adaptive mobility

• Implemented a Mobile robot 6D pose estimation algorithm using a Kalman filter with IMU and encoders.

• Corner module-based mobile manipulator (6 degrees of freedom for the manipulator, 6 degrees of freedom for mobility).