SUBJECT: Ph.D. Dissertation Defense
BY: Michael Libretto
TIME: Wednesday, April 14, 2021, 12:00 p.m.
PLACE:, BlueJea
TITLE: Stabilization of Mobile Manipulators
COMMITTEE: Dr. Jun Ueda, Chair (ME)
Dr. Aldo Ferri (ME)
Dr. Seth Hutchinson (CC)
Dr. Jon Rogers (AE)
Dr. Nader Sadegh (ME)


When a rigid manipulator is mounted upon a mobile system that has some flexibility (a suspension, position controller, etc) the induced oscillations through the base complicate the use of simple end-point feedback. This work investigates the robustness of such aggregate systems to those induced oscillations originating in the flexible base. BlueJeans Link: