29 citations · 32 across the 5 of their papers we have counts for
5 papers
Reactive Base Control for On-The-Move Mobile Manipulation in Dynamic Environments
Ben Burgess-Limerick, Jesse Haviland, Chris Lehnert +1
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation t…
Enabling Failure Recovery for On-The-Move Mobile Manipulation
Ben Burgess-Limerick, Chris Lehnert Jurgen Leitner, Peter Corke
We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile…
An Architecture for Reactive Mobile Manipulation On-The-Move
Ben Burgess-Limerick, Chris Lehnert, Jurgen Leitner +1
We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-…
DGBench: An Open-Source, Reproducible Benchmark for Dynamic Grasping
Ben Burgess-Limerick, Chris Lehnert, Jurgen Leitner +1
This paper introduces DGBench, a fully reproducible open-source testing system to enable benchmarking of dynamic grasping in environments with unpredictable relative motion between…
Visibility Maximization Controller for Robotic Manipulation
Kerry He, Rhys Newbury, Tin Tran +5
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive control…