Whole-Body Tele-Operation for Mobile Manipulator Based on Linear and Angular Motion Decomposition

This paper proposed an end-effector (EE)-driven whole-body tele-operation framework based on linear and angular motion decomposition. The proposed EE-driven tele-operation method enables intuitive control of a mobile manipulator using only EE commands, unlike conventional systems where the mobile ba...

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Autors principals:	Ji-Wook Kwon, Ji-Hyun Park, Taeyoung Uhm, Jongdeuk Lee, Jungwoo Lee, Young-Ho Choi
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2026-01-01
Col·lecció:	Applied Sciences
Matèries:	mobile manipulator tele-operation blending mechanism motion decomposition whole-body control
Accés en línia:	https://www.mdpi.com/2076-3417/16/2/712
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