Wheelchair Maneuvering with a Single-Spherical-Wheeled Balancing Mobile Manipulator
CoRR(2024)
摘要
In this work, we present a control framework to effectively maneuver
wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a
type of nonholonomic cart system, maneuvering such systems with mobile
manipulators (MM) is challenging mostly due to the following reasons: 1) These
systems feature nonholonomic constraints and considerably varying inertial
parameters that require online identification and adaptation. 2) These systems
are widely used in human-centered environments, which demand the MM to operate
in potentially crowded spaces while ensuring compliance for safe physical
human-robot interaction (pHRI). We propose a control framework that plans
whole-body motion based on quasi-static analysis to maneuver heavy nonholonomic
carts while maintaining overall compliance. We validated our approach
experimentally by maneuvering a wheelchair with a bimanual mobile manipulator,
the CMU ballbot. The experiments demonstrate the proposed framework is able to
track desired wheelchair velocity with loads varying from 11.8 kg to 79.4 kg at
a maximum linear velocity of 0.45 m/s and angular velocity of 0.3 rad/s.
Furthermore, we verified that the proposed method can generate human-like
motion smoothness of the wheelchair while ensuring safe interactions with the
environment.
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