Corey L. Schwensen

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Kinematic models and motion control algorithms for a two-axle compliant frame mobile robot are examined. General kinematics describing the compliantly coupled nonholonomic kinematics are derived using velocity constraints that minimize traction forces and consider foreshortening of the frame. Given the complexity of these equations, the steering ratio a is(More)
Kinematic models and motion control algorithms for a two-axle compliant frame mobile robot are examined. General kinematics describing the compliantly coupled nonholonomic kinematics are derived using velocity constraints that minimize traction forces and consider foreshortening of the frame. Given the complexity of these equations, steering ratio, a, is(More)
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