EHC-MM: Embodied Holistic Control for Mobile Manipulation

TL;DR

This paper introduces EHC-MM, a holistic control framework for mobile manipulation that dynamically balances movement and manipulation using a QP-based approach, improving success and efficiency in real-world tasks.

Contribution

The paper presents a novel embodied control method for mobile manipulation that formulates DMCG as a QP problem and introduces MPBS for target tracking, enhancing coordination and performance.

Findings

Achieved 95.6% success rate in real-world experiments.

Improved task efficiency by 52.8%.

Enhanced coordination among robot components.

Abstract

Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied Holistic Control for Mobile Manipulation(EHC-MM) with the embodied function of sig(w): By formulating the DMCG principle as a Quadratic Programming (QP) problem, sig(w) dynamically balances the robot's emphasis between movement and manipulation with the consideration of the robot's state and environment. In addition, we propose the Monitor-Position-Based Servoing (MPBS) with sig(w), enabling the tracking of the target during the operation. This approach enables coordinated control among the robot's base, arm, and camera, enhancing task efficiency. Through extensive simulations and real-world experiments, our approach significantly improves both the success rate and efficiency of mobile manipulation tasks, achieving a 95.6% success rate in real-world scenarios and a 52.8% increase in time efficiency.