Pushing operation by two-wheel inverted mobile manipulator

Koji Sasaki, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

Two-wheel inverted mobile manipulator does not have casters, which avoid the platform of a mobile robot inclining but have complicated dynamical characteristics. Therefore, this mobile manipulator can realize rapid and smooth motion, but in exchange some control is needed to avoid its platform inclining. Rotating platform is considered as a passive joint, which is not actuated. When robot perform a task in contact with environment, reaction force in end-effector acts on passive joint and platform is made inclining. This paper propose a control method for pushing operation by two-wheel inverted mobile manipulator.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages33-37
Number of pages5
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Sasaki, K., & Murakami, T. (2008). Pushing operation by two-wheel inverted mobile manipulator. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 33-37). [4516037] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516037