Mobile Manipulation

Combining mobile bases with manipulation: mobile manipulator kinematics, whole-body planning, navigation-manipulation coordination, and real-world mobile manipulation systems.

Learning Objectives

1. What Is Mobile Manipulation?

1.1 Why Mobile Manipulation?

1.2 System Architectures

2. Mobile Manipulator Kinematics

2.1 Holonomic vs. Non-Holonomic Bases

2.2 Whole-Body Kinematics

2.3 Redundancy of Mobile Manipulators

3. Whole-Body Motion Planning

3.1 Combined Base + Arm Planning

3.2 MoveIt 2 Whole-Body Planning

4. Navigation-Manipulation Coordination

4.1 Approach Strategy

4.2 Base Placement Optimization

5. Perception for Mobile Manipulation

5.1 Scene Understanding

5.2 Object-Centric Navigation

6. Real-World Systems

6.1 Fetch / Stretch

6.2 TIAGo / PR2

6.3 Humanoid Mobile Manipulation

7. ROS 2 Integration (Nav2 + MoveIt 2)

Exercises

References