{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/consolidating-kinematic-models-to-promote","title":"Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations","arxiv_id":"2108.01264","date":"2021-08-03","proceeding":null,"authors":["Ziyuan Jiao","Zeyu Zhang","Xin Jiang","David Han","Song-Chun Zhu","Yixin Zhu","Hangxin Liu"],"abstract":"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.","url_abs":"https://arxiv.org/abs/2108.01264v3","url_pdf":"https://arxiv.org/pdf/2108.01264v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"consolidating-kinematic-models-to-promote","repo_url":"https://github.com/zyjiao4728/VKC-Demo","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":{"status":"ok"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2108.01264","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}