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PhD Thesis Defense
Development of an Agile and Dexterous Balancing Mobile Manipulator Robot
Abstract: This thesis focuses on designing and controlling a dynamically stable shape-accelerating dual-arm mobile manipulator, the Carnegie Mellon University (CMU) ballbot. The CMU ballbot is a human-sized dynamically stable mobile robot that balances on a single spherical wheel. We describe the development of a pair of seven-degree-of-freedom (DOF) humanoid arms. The new 7-DOF arm pair [...]