Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators.
Pushkar Kolhe, Neil Dantam, Mike Stilman. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010.
Abstract – Two-wheeled dynamically stable robots have small support regions and are very flexible. We introduce Sparky, a balancing manipulator that can effectively in perform tasks like pushing, pulling and carrying. In this paper, we show how posture combined with the variation in internal torques of the robot improves its efficiency in pushing objects. By comparing different postures and studying their contact dynamics we have come up with a state-space based control strategy for dynamically balancing manipulators that are effective than their statically controlled equivalent robots.