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Chapter
Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation
A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-cont...
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Chapter and Conference Paper
A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks
Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base ...
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Chapter and Conference Paper
Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Redundant Manipulators
The paper investigates the dynamic characterization of redundant manipulators and formalizes the problem of dynamic optimization in manipulator design. The dynamic performance of a manipulator is described by ...