We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering the state of the constructed VKC, which can be converted to a motion planning problem, formulated, and solved by trajectory optimization. This new VKC perspective of mobile manipulation allows a service robot to (i) produce well-coordinated motions, suitable for complex household environments, and (ii) perform intricate multi-step tasks while interacting with multiple objects without an explicit definition of intermediate goals. In simulated experiments, we validate these advantages by comparing the VKC-based approach with baselines that solely optimize individual components. The results manifest that VKC-based joint modeling and planning promote task success rates and produce more efficient trajectories.

中文翻译：

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整合运动学模型以促进协调的移动操作

我们构建了一个虚拟运动链 (VKC)，它可以轻松地整合移动底座、手臂和要在移动操作中操作的对象的运动学。因此，移动操作任务通过改变构建的 VKC 的状态来表示，这可以转换为运动规划问题，通过轨迹优化来制定和解决。这种移动操作的新 VKC 视角允许服务机器人 (i) 产生协调良好的运动，适用于复杂的家庭环境，以及 (ii) 在与多个对象交互时执行复杂的多步骤任务，而无需明确定义中间目标。在模拟实验中，我们通过将基于 VKC 的方法与仅优化单个组件的基线进行比较来验证这些优势。