Uncertainty-aware arm-base coordinated object grasping with a mobile manipulation platform

Abstract:
Robotic grasping with mobile manipulators is known to be a non-trivial problem, because it is a precision task subject to considerable uncertainty. This paper focuses on task dependent grasp execution, exploiting the mobility of our platform to circumvent kinematic restrictions of the arm. We address the general problem using the example of bottlelike objects. We define task and geometry oriented grasping strategies to handle this class of objects. Our goal is to achieve both, robust and rapid grasping.