MoMa-Pos: An Efficient Object-Kinematic-Aware Base Placement Determination Framework for Mobile Manipulation--Appendix Page

Submitted to IROS 2025

Beichen Shao1, Nieqing Cao2, Yan Ding3, Xingchen Wang1, Fuqiang Gu1,
Jie Ma4, Gang Wang4, Jun Luo4, Chao Chen4,
1College of Computer Science, Chongqing University
2Xi’an Jiaotong Liverpool University
3 Shanghai Artificial Intelligence Laboratory 4 State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University.
ArXiv Code

Additional Simulation Demos

Real-World Demos

Task 1: Grasp apple

Task 2: Grasp cup

Task 3: Open the microwave

Task 4: Open the fridge

BibTeX

@article{shao2024integrating,
  title={MoMa-Pos: An Efficient Object-Kinematic-Aware Base Placement Optimization Framework for Mobile Manipulation},
  author={Shao, Beichen and Cao, Nieqing and Ding, Yan and Wang, Xingchen and Gu, Fuqiang and Chen, Chao},
  journal={arXiv preprint arXiv:2403.19940},
  year={2024}
}