Kimikage Kanno

Relative Tilt Suppression of a Carried Object Using Base Link Angle Adjustment on a Quadruped-Wheeled Robot

In this paper, we consider the case of carrying an object with a quadruped-wheeled robot and examine and verify the angle planning method for the robot’s base link (load section) that suppresses the relative tilt of the carried object. It is important to suppress the tilt of the carried object relat