2024/09/23 by Bingjie Chen, Keyu Fan, Chen, Bingjie +12
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2409.14754
openalex publication_date 2024/09/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant catching on mobile manipulators (CCMM). First, we propose a high-level capture planner for mobile manipulators (MM) that calculates the optimal capture point and joint configuration. Next, the pre-catching (PRC) planner ensures the robot reaches the target joint configuration as quickly as possible. To learn compliant catching strategies, we propose a network that leverages the strengths of LSTM for capturing temporal dependencies and positional encoding for spatial context (P-LSTM). This network is designed to effectively learn compliant strategies from human demonstrations. Following this, the post-catching (POC) planner tracks the compliant sequence output by the P-LSTM while avoiding potential collisions due to structural differences between humans and robots. We validate the CCMM framework through both simulated and real-world ball-catching scenarios, achieving a success rate of 98.70% in simulation, 92.59% in real-world tests, and a 28.7% reduction in impact torques. The open source code has be released for the reference of the community.