Action Mode of Dual-arm Mobile Manipulator with Arm/Platform Coordination

This paper presents a dual-arm mobile manipulator in which two manipulators are mounted atop a wheeled mobile platform. Combination of the two arms' manipulation capability and mobility provided by the locomotion can extend its applicability to a broader field of applications. Here we describe the structure and control scheme of the mobile manipulator system developed. We also discuss how the two manipulators and locomotion can be coordinated in order to execute a given task in a meaningful manner.