Static analysis of contact forces with a mobile manipulator

Most mobile robots in existence today have large, heavy, statically stable bases. To enable manipulation, actuated arms and effectors are attached to the base providing limited postural control. On the other hand, some of the latest developments in humanoid robotics have succeeded in reducing the footprint and raising the center of mass of a robot using whole body postural control and balancing. By comparing the magnitude of various forces that can be applied to the environment, we demonstrate the advantages of whole body postural control. The results presented suggest that for pushing, pulling, or carrying types of tasks, using whole body postural control can lead to higher performance by allowing a platform to apply more force to the environment