Lift-Equipped Mobile Manipulator

Shelf-transfer mobile manipulation in multi-level rack environments.

Integrated 10 m-class lift-equipped mobile manipulator platform
Lift-equipped mobile manipulator platform for shelf-transfer experiments
Shelf-transfer rack setup.
Shelf-transfer sequence for the lift-equipped mobile manipulator in Isaac Lab
Shelf-transfer sequence under source-object randomization.

I designed a lift-equipped mobile manipulator platform for shelf transfer in multi-level rack environments. I also built the Isaac Lab PPO environment with a 9-D action and 41-D observation space.

  • Role: platform design, 9-D action / 41-D observation Isaac Lab PPO environment, shelf-transfer experiment analysis
  • Tools: Isaac Lab, PPO, PyTorch, mobile manipulation
  • Result: 41/50 successful trials (82%) under +/-3 cm source-object randomization; failures consisted of 3 grasp failures and 6 object-drop failures.
  • Paper: A Lift-Equipped Mobile Manipulator Platform for Shelf Transfer in Multi-Level Rack Environments. IEEE/ASME AIM 2026, accepted.
  • Code: GitHub link planned with paper release.