Jiazhi Song

2 accepted papers

2022

Collision and Rollover-Free g2 Path Planning for Mobile Manipulation

IROS 2022poster

This paper presents a path planning refinement technique that allows the efficient collision and rollover-free motion planning for mobile manipulator robots working on rough terrain. First, the necessary theoretical background on a mobile manipulator's kinematics and dynamic stability measure is int…

Cited by 3 Source ↗Scholar ↗

2020

Time Optimal Motion Planning with ZMP Stability Constraint for Timber Manipulation

Jiazhi Song, Inna Sharf

ICRA 2020poster

This paper presents a dynamic stability-constrained optimal motion planning algorithm developed for a timber harvesting machine working on rough terrain. First, the kinematics model of the machine, and the Zero Moment Point (ZMP) stability measure is presented. Then, an approach to simplify the mode…

Cited by 17 Source ↗Scholar ↗