Donghyoun Son

Torque-Based Center-of-Mass Estimation and Rollover-Aware Motion Planning for Heavy Omnidirectional Mobile Robots

Eccentric payloads redistribute wheel loads and change the forces and moments required to maneuver heavy mobile robots. This study combines torque-based center-of-mass (CoM) estimation with global and local motion planning. During aligned, quasi-static creep, normalized wheel tor...