ICRA 2012 Paper Abstract


Paper TuB110.3

Lee, Sohee (Seoul National University), Sobotka, Marion (Technische Universität München), Buss, Martin (Technische Universität München), Park, Frank (Seoul National University)

Online Stability Compensation of Mobile Manipulators Using Recursive Calculation of ZMP Gradients

Scheduled for presentation during the Interactive Session "Interactive Session TuB-1" (TuB110), Tuesday, May 15, 2012, 10:30−11:00, Ballroom D

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 June 22, 2018

Keywords Mobile Manipulation, Direct/Inverse Dynamics Formulation, Motion Control of Manipulators


We propose an online compensation scheme for rollover prevention of mobile manipulators based on the invariance control framework, and that makes use of recursively computed analytic gradients of the zero-moment point (ZMP) function. Our controller relaxes many of the assumptions made in existing approaches, and enhances robustness as well as effectiveness through the use of exact gradient information. Several case studies demonstrate the improved performance of our controller over existing rollover prevention schemes.



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