Wheelchair Maneuvering with a Single-Spherical-Wheeled Balancing Mobile Manipulator
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866911846220431360 |
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| author | Dai, Cunxi Liu, Xiaohan Shu, Roberto Hollis, Ralph |
| author_facet | Dai, Cunxi Liu, Xiaohan Shu, Roberto Hollis, Ralph |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_13206 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Wheelchair Maneuvering with a Single-Spherical-Wheeled Balancing Mobile Manipulator Dai, Cunxi Liu, Xiaohan Shu, Roberto Hollis, Ralph Robotics 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. |
| title | Wheelchair Maneuvering with a Single-Spherical-Wheeled Balancing Mobile Manipulator |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.13206 |