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simmediumroboticsmetric · varies
A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications
Description
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 mani