Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation
<p>This thesis studies mobile robotic manipulators, where one or more robot manipulator arms are integrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be a multi-limbed locomotor. As robots are increasingly deployed in complex and unstructured env...
Internet
https://thesis.library.caltech.edu/9731/8/main.pdfhttps://thesis.library.caltech.edu/9731/9/thesis_compressed.pdf
https://thesis.library.caltech.edu/9731/7/Shankar-%20Krishnat-2016-hesis_video_extension.mp4
Shankar, Krishna (2016) Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/Z9KK98RX. https://resolver.caltech.edu/CaltechTHESIS:05222016-095145651 <https://resolver.caltech.edu/CaltechTHESIS:05222016-095145651>