Electromagnetic Platform Stabilization for Mobile Robots

This work explores possible applications of electromagnetic platform stabilization (EPS) in systems suffering from vibration and resonance along multiple axes. Many HRI platforms are coupled rigid-body platforms; an EPS system acts as a non-rigid coupling between the mobile base and the upper-body structure. Electromagnets have many qualities that have been shown to perform well in complex mechanical systems; our initial investigations illustrate the utility of EPS technologies for reducing resonance in mobile robot platforms, particularly in human-robot interactions, in which sensors in the upper-body structure must be stable to track human users.