Object handling in cluttered indoor environment with a mobile manipulator

This paper presents an indoor object handling application using a 7 degree of freedom lightweight robotic arm and a commercial depth sensor. The motion planning for such a complex arm is demanding, especially in a cluttered scenes, like the majority of human environments are. In order to cope with this task we designed and implemented the direct and inverse kinematics for the arm as well as the perception related modules using a depth sensor. Both the simulation and experimental parts are carried out in a common framework which ensures a light integration of different planning and spatial perception parts.