A Holistic Approach to Reactive Mobile Manipulation

We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat arm base degrees freedom as holistic structure which greatly improves speed fluidity resulting motion. At core this approach is robust motion controller can achieve desired end-effector pose, while avoiding joint position velocity limits, ensuring manipulator manoeuvrable throughout trajectory. This support sensor-based behaviours such closed-loop visual grasping. As no planning involved in our approach, robot never stationary thinking about what do next. show versatility by implementing pick place system using behaviour trees demonstrate task on 9-degree-of-freedom manipulator. Additionally, provide an open-source for both non-holonomic omnidirectional manipulators available at jhavl.github.io/holistic.