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Communication Dans Un Congrès Année : 2015

Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains

Résumé

The problem of improving the stability of a mobile manipulator over a sloped terrain is addressed in the present work. Such an improvement is achieved by finding the location of the manipulator's center of mass that maximizes the overall quasi-static stability, defined here as the force-angle stability, using a stochastic optimization approach known as the Covariance Matrix Adaptation. The tracking of both trajectories for the robot base and for the manipulator is achieved by using an inverse-kinematics controller in simulation.
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Dates et versions

hal-01160230 , version 1 (09-06-2015)

Identifiants

  • HAL Id : hal-01160230 , version 1

Citer

Jae-Yun Jun, Vincent Padois, Faïz Ben Amar. Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains. IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015, Lyon, France. ⟨hal-01160230⟩
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