Andy Zelenak (University of Texas at Austin), Robert G. Reid (Woodside Energy Limited), Mitch Pryor (University of Texas at Austin)
We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates (>500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.