Article

Study: Effects of Non-Rigid Bases on Mobile Manipulators in Sustained Contact Tasks

Using a sanding task as a case study, the paper combines simulation with experiments on two lightweight, unactuated wheeled testbeds to characterize non-rigid base effects in mobile manipulators. Under low base-ground resistance, only 54-70% of a 100 N command was realized, with tool-center-point errors reaching 100 mm; increasing base-ground resistance during contact improved force realization and arrested further tool displacement, while base vibration and force-tracking error showed no consistent relationship under the tested conditions. The study was conducted by Zongyuan Zhang et al. and has been accepted to ACRA 2026.

Part of the event: Study: Non-rigid base of mobile manipulator affects contact tasks

This page provides a summary and source link only.