A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866910075337048064 |
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| author | Tebaldi, Davide Paradisi, Niccolò Pini, Fabio Biagiotti, Luigi |
| author_facet | Tebaldi, Davide Paradisi, Niccolò Pini, Fabio Biagiotti, Luigi |
| contents | Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable control methodologies is essential since mobile manipulators introduce additional degrees of freedom, making the design of control approaches more challenging and more prone to performance optimization. This paper proposes a control approach for a mobile manipulator, composed of a mobile base equipped with a robotic arm mounted on the top, with the objective of minimizing the overall kinetic energy stored in the whole-body mobile manipulator in physical human-robot interaction applications. The approach is experimentally tested with reference to a peg-in-hole task, and the results demonstrate that the proposed approach reduces the overall kinetic energy stored in the whole-body robotic system and improves the system performance compared with the benchmark method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_25259 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications Tebaldi, Davide Paradisi, Niccolò Pini, Fabio Biagiotti, Luigi Robotics Systems and Control Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable control methodologies is essential since mobile manipulators introduce additional degrees of freedom, making the design of control approaches more challenging and more prone to performance optimization. This paper proposes a control approach for a mobile manipulator, composed of a mobile base equipped with a robotic arm mounted on the top, with the objective of minimizing the overall kinetic energy stored in the whole-body mobile manipulator in physical human-robot interaction applications. The approach is experimentally tested with reference to a peg-in-hole task, and the results demonstrate that the proposed approach reduces the overall kinetic energy stored in the whole-body robotic system and improves the system performance compared with the benchmark method. |
| title | A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2603.25259 |