(Georgia Institute of Technology, 2010-05)
Kolhe, Pushkar; Dantam, Neil; Stilman, Mike; Georgia Institute of Technology. Center for Robotics and Intelligent Machines; Georgia Institute of Technology. School of Interactive Computing
This paper presents three effective manipulation
strategies for wheeled, dynamically balancing robots with articulated
links. By comparing these strategies through analysis,
simulation and robot experiments, we show that contact
placement and body posture have a significant impact on the robot's ability to accelerate and displace environment objects.
Given object geometry and friction parameters we determine
the most effective methods for utilizing wheel torque to perform
non-prehensile manipulation.
(Georgia Institute of Technology, 2010-12-14)
Dantam, Neil; Kolhe, Pushkar; Stilman, Mike; Georgia Institute of Technology. Center for Robotics and Intelligent Machines; Georgia Institute of Technology. School of Interactive Computing