TY - GEN
T1 - Online stability compensation of mobile manipulators using recursive calculation of ZMP gradients
AU - Lee, Sohee
AU - Leibold, Marion
AU - Buss, Martin
AU - Park, Frank C.
N1 - Funding Information:
This research was performed in partial fulfillment of the requirements for a Ph.D. in mechanical engineering, University of Dayton, Dayton, OH. Support for this research was provided by the Air Force Office of Scientific Research, Bolling AFB, Washington, D.C., with Dr. Hugh C. DeLong as program manager. Special thanks to Professor James A. Snide, University of Dayton, Dayton, OH for technical advice. Also special thanks to: Dr. Andre' J. Sommers, Miami University. Oxford, OH, for p- FTlR and Raman data, Messrs. Tom Wittberg and Jim Hoenigman. University of Dayton, for Auger depth profile data; and Mr. John Woodhouse, UES, Dayton, OH for SEM and EDS data.
PY - 2012
Y1 - 2012
N2 - We propose an online compensation scheme for rollover prevention of mobile manipulators based on the invariance control framework, and that makes use of recursively computed analytic gradients of the zero-moment point (ZMP) function. Our controller relaxes many of the assumptions made in existing approaches, and enhances robustness as well as effectiveness through the use of exact gradient information. Several case studies demonstrate the improved performance of our controller over existing rollover prevention schemes.
AB - We propose an online compensation scheme for rollover prevention of mobile manipulators based on the invariance control framework, and that makes use of recursively computed analytic gradients of the zero-moment point (ZMP) function. Our controller relaxes many of the assumptions made in existing approaches, and enhances robustness as well as effectiveness through the use of exact gradient information. Several case studies demonstrate the improved performance of our controller over existing rollover prevention schemes.
UR - http://www.scopus.com/inward/record.url?scp=84864450844&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225203
DO - 10.1109/ICRA.2012.6225203
M3 - Conference contribution
AN - SCOPUS:84864450844
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 850
EP - 855
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -