Motion Planning for Dual-arm Mobile Manipulator based on Manipulability : Motion planning and experiment of lifting up a book by dual-arm

Recently a target environment for research of robots are extending from industrial environment to humans indoor environment In such environment it is necessary for robots to have an ability to carry out complex tasks and to deal with unforeseen circumstances Therefore we aim to develop a motion planning algorithm for a dual arm mobile manipulator particularly focusing on operatability of the hand The manipulabilty is used for a variable of the operatability in our approach In this article we explain about the availability of the algorithm by a simple experiment that is applied to a task of lifting up a book