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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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Principais autores: Ji-Wook Kwon, Ji-Hyun Park, Taeyoung Uhm, Jongdeuk Lee, Jungwoo Lee, Young-Ho Choi
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2026-01-01
coleção:Applied Sciences
Assuntos:
mobile manipulator
tele-operation
blending mechanism
motion decomposition
whole-body control
Acesso em linha:https://www.mdpi.com/2076-3417/16/2/712
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