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Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering(More)
In past 40 years, robots have been proved necessity in nuclear crisis and daily maintenance. Especially after the Fukushima nuclear crisis, robots were used to detect irradiation dose rate and sample contaminated water inside the reactor more widely. The key for a nuclear robot was irradiation hardness of its components, especially the electrical(More)
After the Fukushima nuclear crisis, robots were used to detect irradiation dose rate and sample contaminated water inside the reactor. The necessity of robots in nuclear crisis and daily maintenance have been proved in past 40 years since the Three-mile island crisis. The key issue for a nuclear robot was irradiation hardness of all components, especially(More)
Skid-steering mobile robots, both wheels and tracked vehicles, are widely used because of their simple mechanism and robust. However, due to the complex wheel-ground interactions and the kinematics constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop a kinematics modeling estimation(More)
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