@article{801792cd372244cea0ce26ff0ccde15f,
title = "Task-Space Control of Articulated Mobile Robots with a Soft Gripper for Operations",
abstract = "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.",
keywords = "Articulated mobile robot, jamming transition, mobile manipulation, redundancy, task-space control",
author = "Motoyasu Tanaka and Kenjiro Tadakuma and Mizuki Nakajima and Masahiro Fujita",
note = "Funding Information: Manuscript received May 11, 2018; revised August 29, 2018; accepted October 7, 2018. Date of publication November 15, 2018; date of current version February 4, 2019. This paper was recommended for publication by Associate Editor P.-C. Lin and Editor I.-M. Chen upon evaluation of the reviewers{\textquoteright} comments. This work was supported in part by the ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan) and in part by JSPS KAKENHI Grant Number JP18K04011. (Corresponding author: Motoyasu Tanaka.) M. Tanaka and M. Nakajima are with the Department of Mechanical Intelligent Systems Engineering, University of Electro-Communications, Tokyo 182-8585, Japan (e-mail:, mtanaka@uec.ac.jp; mizuki.nakajima@rc.mce.uec. ac.jp). Publisher Copyright: {\textcopyright} 2004-2012 IEEE.",
year = "2019",
month = feb,
doi = "10.1109/TRO.2018.2878361",
language = "English",
volume = "35",
pages = "135--146",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "1",
}