Stability Constrained Mobile Manipulation Planning on Rough Terrain

This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero Moment Point (ZMP) stability measure are presented as theoretic...

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Bibliographische Detailangaben

Hauptverfasser:	Song, Jiazhi, Sharf, Inna
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Artificial Intelligence Computer Science - Robotics Computer Science - Systems and Control
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