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Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator...
The combination of mobile platform and a manipulator which is known as a mobile manipulator can be used in lots of applications. Motion control with respect to stability of dynamically stable mobile manipulators is one the interesting challenges in robotics. Mobile robots with small base are capable of moving in limited space. A Ballbot is an underactuated system with nonholonomic dynamic constraints...
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