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| Format: | Preprint |
| Veröffentlicht: |
2025
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| Online-Zugang: | https://arxiv.org/abs/2506.13953 |
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| _version_ | 1866908409250447360 |
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| author | Ribeiro, Caio C. G. Paes, Leonardo R. D. Macharet, Douglas G. |
| author_facet | Ribeiro, Caio C. G. Paes, Leonardo R. D. Macharet, Douglas G. |
| contents | Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap in research that addresses the unique challenges posed by mobile manipulators. In this paper, we tackle the challenge of navigating a robotic mobile manipulator, carrying a non-negligible load, within a static human-populated environment while adhering to social norms. Our goal is to develop a method that enables the robot to simultaneously manipulate an object and navigate between locations in a socially-aware manner. We propose an approach based on the Risk-RRT* framework that enables the coordinated actuation of both the mobile base and manipulator. This approach ensures collision-free navigation while adhering to human social preferences. We compared our approach in a simulated environment to socially-aware mobile-only methods applied to a mobile manipulator. The results highlight the necessity for mobile manipulator-specific techniques, with our method outperforming mobile-only approaches. Our method enabled the robot to navigate, transport an object, avoid collisions, and minimize social discomfort effectively. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_13953 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Socially-aware Object Transportation by a Mobile Manipulator in Static Planar Environments with Obstacles Ribeiro, Caio C. G. Paes, Leonardo R. D. Macharet, Douglas G. Robotics Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap in research that addresses the unique challenges posed by mobile manipulators. In this paper, we tackle the challenge of navigating a robotic mobile manipulator, carrying a non-negligible load, within a static human-populated environment while adhering to social norms. Our goal is to develop a method that enables the robot to simultaneously manipulate an object and navigate between locations in a socially-aware manner. We propose an approach based on the Risk-RRT* framework that enables the coordinated actuation of both the mobile base and manipulator. This approach ensures collision-free navigation while adhering to human social preferences. We compared our approach in a simulated environment to socially-aware mobile-only methods applied to a mobile manipulator. The results highlight the necessity for mobile manipulator-specific techniques, with our method outperforming mobile-only approaches. Our method enabled the robot to navigate, transport an object, avoid collisions, and minimize social discomfort effectively. |
| title | Socially-aware Object Transportation by a Mobile Manipulator in Static Planar Environments with Obstacles |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.13953 |