Task-Space Control of Articulated Mobile Robots with a Soft Gripper for Operations

Motoyasu Tanaka, Kenjiro Tadakuma, Mizuki Nakajima, Masahiro Fujita

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


A task-space method is presented for the control of a head-raising articulated mobile robot, allowing the trajectory tracking of a tip of a gripper located on the head of the robot in various operations, e.g., picking up an object and rotating a valve. If the robot cannot continue moving because it reaches a joint angle limit, the robot moves away from the joint limit and changes posture by switching the allocation of lifted/grounded wheels. An articulated mobile robot with a gripper that can grasp objects using jamming transition was developed, and experiments were conducted to demonstrate the effectiveness of the proposed controller in operations.

Original languageEnglish
Article number8536485
Pages (from-to)135-146
Number of pages12
JournalIEEE Transactions on Robotics
Issue number1
Publication statusPublished - 2019 Feb


  • Articulated mobile robot
  • jamming transition
  • mobile manipulation
  • redundancy
  • task-space control


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