Pushing operation by two-wheel inverted mobile manipulator

Koji Sasaki, Toshiyuki Murakami

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

20 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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages33-37
Number of pages5
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

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

Fingerprint

Mobile Manipulator
Wheel
Manipulators
Wheels
End effectors
Mobile Robot
Mobile robots
Rotating
Robot
Contact
Robots
Motion

ASJC Scopus subject areas

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

Cite this

Sasaki, K., & Murakami, T. (2008). Pushing operation by two-wheel inverted mobile manipulator. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 33-37). [4516037] https://doi.org/10.1109/AMC.2008.4516037

Pushing operation by two-wheel inverted mobile manipulator. / Sasaki, Koji; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 33-37 4516037.

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

Sasaki, K & Murakami, T 2008, Pushing operation by two-wheel inverted mobile manipulator. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516037, pp. 33-37, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516037
Sasaki K, Murakami T. Pushing operation by two-wheel inverted mobile manipulator. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 33-37. 4516037 https://doi.org/10.1109/AMC.2008.4516037
Sasaki, Koji ; Murakami, Toshiyuki. / Pushing operation by two-wheel inverted mobile manipulator. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 33-37
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