Task-consistent obstacle avoidance and motion behavior for mobile manipulation

Abstract

Applications in mobile manipulation require sophisti- cated motion execution skills to address issues like re- dundancy resolution, reactive obstacle avoidance, and transitioning between diflerent motion behaviors. The elastic strip framework is an approach to reactive mo- tion generation providing an integrated solution to these problems. Novel techniques within the elastic strip framework are presented, allowing task-consistent obstacle avoidance and task-consistent motion behav- ior. General transition criteria and methods are pre- sented, permitting the suspension and resumption of task execution to ensure oth.er desired motion behav- ior, such as obstacle avoidance. Task execution has to be suspended when kinematic constraints or changes in the environment render task-consistent motion behav- ior infeasible. Task execution is resumed as soon as it is consistent with other desired motion behavior. .