This paper describes an experimental study of a novel methodology for the positioning of a multi‐ articulated wheeled mobile manipulator with 12 degrees of freedom used for handling tasks with explosive devices. The approach is based on an extension of a homogenous transformation graph (HTG), which is adapted to be used in the kinematic modelling of manipulat...

Athletics are a quintessential and universal expression of humanity. From French monks who in the $12{\text{th}}$ century invented jeu de paume , precursor to modern lawn tennis, ba...

Path following controllers make the output of a control system approach and traverse a pre-specified path with no a priori time-parametrization. The first part of the thesis implements a path following controller for a simple class of paths, based on transverse feedback linearization (TFL), which guarantees invariance of the path to be followed. The coordinate and feedback transformation employ...

|When a mobile robot executes a given task in human-robot co-existence environment, it is necessary for the robot to perform robust motions and to have abilities to deal with unforeseen situations. Therefore we aim to realize an intelligent and robust motion for a dual-arm mobile manipulator. To carry out a research of intelligent motion, we set a concrete task as \grasping a book and returning...

In this paper we consider the problem of stabilizing in a desired configuration a mobile manipulator; only the arm’s joint displacements information and the measures provided by a camera mounted on the end-effector are used to stabilize the system. In particular, no knowledge about the position and the orientation of the mobile base is supposed to be available. An hybrid control algorithm, base...