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The Mechanics and Control of Leaning to Lift Heavy Objects with a Dynamically Stable Mobile Robot

机译:动态稳定的移动机器人斜举重物的力学与控制

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A control algorithm is developed to enable dynamically stable spherical-wheel robots (ballbots) with arms to detect a heavy object of unknown mass, navigate to it, lift it, transport it, and place it in a desired location semi-autonomously. Previous work has successfully demonstrated two-wheeled dynamically stable mobile manipulator robots transporting heavy objects. We report here the first ballbot to reliably achieve such a task. A successful semi-autonomous lift and transport of a 15 kg heavy box whose actual mass was unknown was achieved using a combination of feedforward and feedback control laws based on a quasi-static center of mass computation. The ballbot's pan and tilt sensor turret tracked fiducial markers on the box. Ballbot-to-human and human-to-ballbot exchanges of a 10 kg heavy object was achieved while dynamically balancing.
机译:开发了一种控制算法,以使具有手臂的动态稳定的球形机器人(球机器人)能够检测未知质量的重物,导航到该质量的物体,将其举起,运输并将其半自动放置在所需的位置。先前的工作已成功演示了运输重物的两轮动态稳定的移动机械手机器人。我们在这里报告第一个可靠完成这项任务的机器人。通过使用基于准静态质心计算的前馈和反馈控制律的组合,成功完成了一个15公斤重箱的成功的半自动举升和运输,该箱子的实际质量未知。球形机器人的平移和倾斜传感器转塔在盒子上追踪基准标记。在动态平衡的同时,实现了重10公斤重物体的人与人之间的交换。

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