Christian Pascal Connette

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This paper introduces Care-O-bot<sup>®</sup> 3, a highly integrated and compact service robot with manipulation, navigation and vision capabilities. In particular, Care-O-bot<sup>®</sup> 3 combines the best of available technology including a 7 DOF light-weight arm, an omnidirectional platform and many high-end sensors along with a sustainable, end user(More)
For mobile platforms with steerable standard wheels it is necessary to precisely coordinate rotation and steering angle of their wheels. An established approach to ensure this is to represent the current state of motion in form of the Instantaneous Centre of Motion (ICM) and to derive a trajectory within this space. However, while control in the ICM space(More)
For mobile platforms with steerable standard wheels it is necessary to precisely coordinate rotation and steering angle of their wheels. Especially for redundantly actuated platforms the misalignments of a single wheel directly leads to invalid configurations which may cause degraded motion of the platform and high internal forces. An established approach(More)
Currently, pseudo-omnidirectional, wheeled mobile robots with independently steered and driven wheels seem to provide a solid compromise between complexity, flexibility and robustness. Yet, such undercarriages are imposed to the risk of actuator fighting and suffer from singular regions within their configuration space. To address these problems we expand a(More)
Non-holonomic, omnidirectional undercarriages that are composed of steered standard wheels seem to provide a solid compromise between versatility, flexibility and high robustness against various ground conditions. However, such undercarriages are characterized by the occurrence of a number of singular configurations. To avoid these singular configurations(More)
In recent years, driver-assistance systems have emerged as one major possibility to increase comfort and safety in road traffic. Still, cost is one major hindrance to the widespread use of safety systems such as lane-change or blind spot warning. To facilitate the widespread adoption of such safety systems, thus increasing safety for all traffic(More)
Robots are emerging from industrial plants toward every people's daily life. Thus, navigation in and understanding of human related environments becomes a prerequisite for the systems of tomorrow. Most such environments can be efficiently described using line segments. However, incorporation of extent information is often difficult, as line segments are(More)
In recent years driver-assistance systems have emerged as one major possibility to increase comfort and even more important safety in road traffic. Still, cost is one major hindrance to the widespread use of safety systems such as lane change or blind spot warning. To facilitate the widespread adoption of such safety systems, thus increasing safety for all(More)
A high degree of mobility and flexibility will be a prerequisite for the successful deployment of future service robots. Currently, pseudo-omnidirectional, wheeled mobile robots with independently steered and driven wheels seem to provide a solid compromise between complexity, flexibility and robustness. Yet, such undercarriages are imposed to the risk of(More)