双腕型移動マニピュレータによる押し方の切り替えを伴う椅子の整頓行動計画

抄録

This paper describes action planning for a dual-arm mobile manipulator aiming to move a chair to an instructed position. The initial posture of the mobile manipulator for task execution is determined by the evaluation based on the size of free space. This process includes the selection whether to use both arms or one of them. Next, QP optimization is used to calculate the suitable joint angles of the mobile manipulator to approach the target posture while satisfying the constraint conditions. In the proof simulation, the feasibility of the proposed method was examined by performing tidying tasks in several different conference room layouts.