Organizational Unit:
Humanoid Robotics Laboratory

Research Organization Registry ID
Previous Names
Parent Organization
Parent Organization
Includes Organization(s)
ArchiveSpace Name Record

Publication Search Results

Now showing 1 - 1 of 1
  • Item
    Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators
    (Georgia Institute of Technology, 2010-05) Kolhe, Pushkar ; Dantam, Neil ; Stilman, Mike
    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.