2019
The Mechanics and Control of Leaning to Lift Heavy Objects with a Dynamically Stable Mobile Robot
ICRA 2019poster
A control algorithm is developed to enable dynamically stable spherical-wheel robots (ballbots) with arms to detect a heavy object of unknown mass, navigate to it, lift it, transport it, and place it in a desired location semi-autonomously. Previous work has successfully demonstrated two-wheeled dyn…