Please help transcribe this video using our simple transcription tool. You need to be logged in to do so.

Description

We propose an online compensation scheme for rollover prevention of mobile manipulators based on the invariance control framework, and that makes use of recursively computed analytic gradients of the zero-moment point (ZMP) function. Our controller relaxes many of the assumptions made in existing approaches, and enhances robustness as well as effectiveness through the use of exact gradient information. Several case studies demonstrate the improved performance of our controller over existing rollover prevention schemes.

Questions and Answers

You need to be logged in to be able to post here.