4 accepted papers
In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, maneuvering such systems with mobile manipulators (MM) is challenging mostly due to the following reasons: 1) These syste…
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 performin…
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…
Inertial reorientation of airborne articulated bodies has been an active area of research in the robotics community, as this behavior can help guide dynamic robots to a safe landing with minimal damage. The main objective of this work is emulating the aggressive and large angle correction maneuvers,…