Dynamic pushing strategies for dynamically stable mobile manipulators

Author

Kolhe, Pushkar ; Dantam, Neil ; Stilman, Mike

Author_Institution

Center for Robot. & Intell. Machines, Georgia Inst. of Technol., Atlanta, GA, USA

fYear

2010

fDate

3-7 May 2010

Firstpage

3745

Lastpage

3750

Abstract

This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a significant impact on the robot´s ability to accelerate and displace environment objects. Given object geometry and friction parameters we determine the most effective methods for utilizing wheel torque to perform non-prehensile manipulation.

Keywords

friction; manipulators; mechanical contact; mobile robots; stability; torque; wheels; articulated links; contact placement; dynamic pushing strategy; dynamically balancing robot; dynamically stable mobile manipulators; friction parameters; nonprehensile manipulation; object geometry; wheel torque; wheeled balancing robot; Analytical models; Friction; Humans; Manipulator dynamics; Mobile robots; Orbital robotics; Performance analysis; Robotics and automation; Torque; Wheels; contact forces; dynamic stability; friction; mobile manipulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509491

Filename

5509491