Momentum based Whole-Body Optimal Planning for a Single-Spherical-Wheeled Balancing Mobile Manipulator
Roberto Shu,Ralph Hollis,Roberto Shu,Ralph Hollis
In this paper, we present a planning and control framework for dynamic, whole-body motions for dynamically stable shape-accelerating mobile manipulators. This class of robots are inherently unstable and require careful coordination between the upper and lower body to maintain balance while performing arm motion tasks. Solutions to this problem either use a complex, full-body nonlinear dynamic mode...
