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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 (Fixed ZMP and Relaxed ZMP) are proposed. The highly geared manipulator is controlled by a Cartesian computed torque (CCT) control for compliant motion. A rapid mobile manipulator...
In this paper, we developed a novel dynamic mobile platform capable of transforming between four wheel rapid driving mode with ZMP stabilization and two wheel balancing mode. Usually, the four wheel mobile platforms have low acceleration due to the high center of mass. Using the feed-forward ZMP stabilization method, we achieved high acceleration performance with maintaining stable ZMP. We use a LQR...
Numerous service robots have wheels for motion. Robots with wheels move stably in a 2D plane. At the moment of acceleration, various methods for maintaining stability are required. Most four-wheeled service robots have low velocity and acceleration because of their high center of mass. For high speed and dynamic movement, we need control methods to stabilize the robots. One of the fastest service...
This paper proposes ankle torque and foot placement control methods in the coronal plane (frontal or roll) for a humanoid robot. It is an important problem to control the posture of a humanoid robot in the coronal plane during walking. When the humanoid robot walks, the phase portrait of the pelvis position in the coronal makes an elliptical shape. In this paper, we develop an ankle torque and foot...
This paper introduces a novel approach to control a wheeled inverted pendulum when a disturbance is applied by a human. The interaction between a human and a wheeled inverted pendulum involves a pulling or pushing force. This type of action is a severe disturbance for a wheeled inverted pendulum, as the wheeled inverted pendulum tends to maintain its initial position if there is no desired input....
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