ICRA 2012 Paper Abstract

Close

Paper TuA04.2

Nagarajan, Umashankar (Carnegie Mellon University), Kim, Byungjun (Carnegie Mellon University), Hollis, Ralph (Carnegie Mellon University)

Planning in High-Dimensional Shape Space for a Single-Wheeled Balancing Mobile Robot with Arms

Scheduled for presentation during the Regular Session "Underactuated Robots" (TuA04), Tuesday, May 15, 2012, 08:45−09:00, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Underactuated Robots, Nonholonomic Motion Planning, Motion and Path Planning

Abstract

The ballbot with arms is an underactuated balancing mobile robot that moves on a single ball. Achieving desired motions in position space is a challenging task for such systems due to their unstable zero dynamics. This paper presents a novel approach that uses the dynamic constraint equations to plan shape trajectories, which when tracked will result in optimal tracking of desired position trajectories. The ballbot with arms has shape space of higher dimension than its position space and therefore, the procedure uses a user-defined weight matrix to choose between the infinite number of possible combinations of shape trajectories to achieve a particular desired trajectory in position space. Experimental results are shown on the real robot where different motions in position space are achieved by tracking motions of either the body lean angles, or the arm angles or combinations of both.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-12-13  22:12:50 PST  Terms of use