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19

ICRA
2010
IEEE

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Dynamic pushing strategies for dynamically stable mobile manipulators

13 years 3 months ago

Dynamic pushing strategies for dynamically stable mobile manipulators

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— This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a signiﬁcant impact on the robot’s ability to accelerate and displace environment objects. Given object geometry and friction parameters we determine the most effective methods for utilizing wheel torque to perform non-prehensile manipulation.

Pushkar Kolhe, Neil Dantam, Mike Stilman

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Added	26 Jan 2011
Updated	26 Jan 2011
Type	Journal
Year	2010
Where	ICRA
Authors	Pushkar Kolhe, Neil Dantam, Mike Stilman

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