# Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation

arXiv: https://arxiv.org/abs/2105.10777 · HTML: https://mlsanity.com/paper/2105.10777/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 3 of its 29 references that are in the map.
- First posted on arXiv 22 May 2021.

## Builds on (most cited first, 3 of 3)

- [Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots](https://mlsanity.com/paper/2008.11613/) (2020)
- [Formulating Intuitive Stack-of-Tasks using Visuo-Tactile Perception for Collaborative Human-Robot Fine Manipulation](https://mlsanity.com/paper/2103.05676/) (2021)
- [Intuitive Tasks Planning Using Visuo-Tactile Perception for Human Robot Cooperation](https://mlsanity.com/paper/2104.00342/) (2021)

## Built on by (most cited first, 1 of 1)

- [Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automation](https://mlsanity.com/paper/2109.07247/) (2021)

## Abstract (arXiv)

Mobile manipulators that combine mobility and manipulability, are increasingly being used for various unstructured application scenarios in the field, e.g. vineyards. Therefore, the coordinated motion of the mobile base and manipulator is an essential feature of the overall performance. In this paper, we explore a whole-body motion controller of a robot which is composed of a 2-DoFs non-holonomic wheeled mobile base with a 7-DoFs manipulator (non-holonomic wheeled mobile manipulator, NWMM) This robotic platform is designed to efficiently undertake complex grapevine pruning tasks. In the control framework, a task priority coordinated motion of the NWMM is guaranteed. Lower-priority tasks are projected into the null space of the top-priority tasks so that higher-priority tasks are completed without interruption from lower-priority tasks. The proposed controller was evaluated in a grapevine spur pruning experiment scenario.