Coordinated Pose Control of Mobile Manipulation With an Unstable Bikebot Platform

Bikebot manipulation has advantages of the single-track robot mobility and dexterity. We present a coordinated pose control mobile with stationary bikebot. The challenges bikebot include limited steering balance capability unstable kinematic redundancy manipulator. first model to analyze explore maximum platform. A balancing equilibrium manifold is then proposed describe necessary condition fulfill simultaneous platform posture end-effector. planning design presented determine balance-prioritized under dynamic constraints. Extensive experiments are conducted demonstrate mechatronic for autonomous plant inspection in agricultural applications. results confirm feasibility use end-effector position orientation errors about 5 mm 0.3 degs, respectively.