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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...
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...
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