Paper ID: 2210.08600

Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees

Marco Iannotta, David Cáceres Domínguez, Johannes A. Stork, Erik Schaffernicht, Todor Stoyanov

Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems.

Submitted: Oct 16, 2022