  Bikebot manipulation has advantages of the single-track robot mobility and
manipulation dexterity. We present a coordinated pose control of mobile
manipulation with the stationary bikebot. The challenges of the bikebot
manipulation include the limited steering balance capability of the unstable
bikebot and kinematic redundancy of the manipulator. We first present the
steering balance model to analyze and explore the maximum steering capability
to balance the stationary platform. A balancing equilibrium manifold is then
proposed to describe the necessary condition to fulfill the simultaneous
platform balance and posture control of the end-effector. A coordinated
planning and control design is presented to determine the balance-prioritized
posture control under kinematic and dynamic constraints. Extensive experiments
are conducted to demonstrate the mechatronic design for autonomous plant
inspection in agricultural applications. The results confirm the feasibility to
use the bikebot manipulation for a plant inspection with end-effector position
and orientation errors about 5 mm and 0.3 degs, respectively.
