Mobile Manipulation

Mobile manipulation combines base motion with arm and gripper motion so that a robot can reach and interact with objects beyond a fixed workspace. This chapter connects navigation and manipulation, including considerations for Stretch 3.

Topics include:

• Base placement, reachability, and approach direction.
• Coordinating base and arm motion.
• Whole-body planning, collision checking, and motion constraints.
• Transitions between navigation, perception, grasping, and interaction.

The emphasis is on coordination across these components, building on Navigation, Grasping, and Visual Servoing.