Suppressing violent sloshing flow in food serving robots

Jinsuk Choi, Wookyong Kwon, Kwanwoong Yoon, Seongwon Yoon, Young Sam Lee, Soo Jeon, Soohee Han

Abstract: Highlights•Stabilizes the body of the mobile robot to reduce the possibility of sloshing.•Utilizes feedforward to suppress sloshing in response to step velocity commands.•Requires only two IMUs and a simple intuitive control logic with a small number of tuning parameters.