2022/03/19 by Feng Han, Alborz Jelvani, Han, Feng +5
Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Locomotion and Control #Robotics (cs.RO) #Soil Mechanics and Vehicle Dynamics #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2203.10210
openalex publication_date 2022/03/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Bikebot manipulation has advantages of the single-track robot mobility and manipulation dexterity. We present a coordinated pose control of mobile manipulation with the stationary bikebot. The challenges of the bikebot manipulation include the limited steering balance capability of the unstable bikebot and kinematic redundancy of the manipulator. We first present the steering balance model to analyze and explore the maximum steering capability to balance the stationary platform. A balancing equilibrium manifold is then proposed to describe the necessary condition to fulfill the simultaneous platform balance and posture control of the end-effector. A coordinated planning and control design is presented to determine the balance-prioritized posture control under kinematic and dynamic constraints. Extensive experiments are conducted to demonstrate the mechatronic design for autonomous plant inspection in agricultural applications. The results confirm the feasibility to use the bikebot manipulation for a plant inspection with end-effector position and orientation errors about 5 mm and 0.3 degs, respectively.