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Paper TuB210.3

CHOI, DONGIL (KAIST), Oh, Jun Ho (Korea Advanced Inst. of Sci. and Tech.)

ZMP Stabilization of Rapid Mobile Manipulator

Scheduled for presentation during the Interactive Session "Interactive Session TuB-2" (TuB210), Tuesday, May 15, 2012, 11:00−11:30, 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 December 13, 2017

Keywords Wheeled Robots, Motion Control of Manipulators, Mobile Manipulation

Abstract

This paper introduces a motion planning method for a rapid mobile manipulator using an inverted pendulum model. We design a linear quadratic optimal controller to stabilize ZMP. The two kinds of ZMP stabilization strategies (Reverse action ZMP and Flex ZMP) are proposed. The highly geared manipulator is controlled by a Cartesian computed torque (CCT) control for compliant motion. A rapid mobile manipulator called KDMR-1 has been developed for its application. The high acceleration and speed performances of the proposed methods are shown by a rapid maneuvering experiment.

 

 

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