Kinematics of wheeled mobile robots on uneven terrain

  title={Kinematics of wheeled mobile robots on uneven terrain},
  author={Nilanjan Chakraborty and Ashitava Ghosal},
  journal={Mechanism and Machine Theory},
A Novel Kinematic Model for Rough Terrain Robots
We describe in detail a novel kinematic simulation of a three-wheeled mo- bile robot moving on extremely uneven terrain. The purpose of this simulation is to test a new concept, called Passive
Kinematic Model of Wheeled Mobile Robots
This paper deals with the structure of the kinematic models of wheeled mobile robots (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels.
A Three-Wheeled Mobile Robot for Traversing Uneven Terrain Without Slip: Simulation and Experiments
A wheeled mobile robot (WMR) can move on uneven terrains without slip if the wheels are allowed to tilt laterally. This paper deals with the analysis, design and experimentations with a WMR where the
Quasi-static motion planning on uneven terrain for a wheeled mobile robot
A motion planning algorithm connecting a starting and ending goal positions of a wheeled mobile robot (WMR) with a passive variable camber (PVC) on a fully 3D uneven terrain without slipping is presented.
Simulation of motion of a mobile robot on uneven terrain
Configuration of the robot placed on uneven terrain is described, presenting the redundant set of variables that create the state of the machine, so that the platform moves in the way specified by the user.
Quasi-Static Simulation of a Wheeled Mobile Robot having a Passive Variable Camber
In this paper we present an algorithm for quasi-static motion of a wheeled mobile robot equipped with a passive variable camber on uneven terrain. The al- gorithm is based on Peshkin's minimum energy
Modeling and Simulation of a Three-Wheeled Mobile Robot on Uneven Terrains with Two-Degree-of-Freedom Suspension Mechanisms
A wheeled mobile robot (WMR) will move on an uneven terrain without slip if its torus-shaped wheels tilt in a lateral direction. An independent two degree-of-freedom (DOF) suspension is required to
Kinematic Analysis of Wheeled Moblie Roobt
This paper concerned with the kinematic analysis of a wheeled mobile robot (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels. In this
A Vector Algebra Formulation of Mobile Robot Velocity Kinematics
This paper has developed a formulation of WMR velocity kinematics as a differential-algebraic system—a constrained differential equation of first order that can constitute a key component of more informed state estimation, motion control, and motion planning algorithms for wheeled mobile robots.


On the Kinematics of Wheeled Mobile Robots
Conditions are obtained that guarantee that rolling without skidding or sliding can occur and the question of slippage due to misalign ment of the wheels is investigated by minimization of a non- smooth convex dissipation functional derived from Coulomb's Law offriction.
Kinematic modeling of wheeled mobile robots
The kinematic equations of motion of Uranus, a wheeled mobile robot being constructed in the CMU Mobile Robot Laboratory, are formulated and interpreted to interpret the physical conditions which guarantee their existence.
Displacement Analysis of an Actively Articulated Wheeled Vehicle Configuration With Extensions to Motion Planning on Uneven Terrain
This manuscript presents a displacement analysis of actively articulated wheeled vehicles on uneven terrain. These vehicles are distinct from traditional wheeled systems since they have the ability
Two Wheels Connected by an Unactuated Variable Length Axle on Uneven Ground: Kinematic Modeling and Experiments
It has been shown in previous work that when two wheels independently joined by a fixed-length axle are placed on an uneven surface, such that the line joining the wheel contact points is not
Kinematic Geometry of Wheeled Vehicle Systems
This paper utilizes a kinematic-geometric approach to study the first-order motion characteristics of wheeled vehicles on even and uneven terrain. The results obtained from first-order studies are
Gross motion characteristics of articulated mobile robots with pure rolling capability on smooth uneven surfaces
Insight is provided into the relationship between variations in the axle lengths and kinematic parameters such as path curvature and vehicle-surface contact geometry and the combined holonomic-nonholonomic set of equations that result from considering the exact kinematics of rolling on uneven surfaces.
The Kinematics of Contact and Grasp
The relation ship between the relative motion of two fingers grasping an object and the motion of the points of contact over the object surface is derived and the following applications are explored.
Terrain Adaptive Vehicles
Research on walking vehicles and variable configuration wheeled vehicles is reviewed. The central feature of the vehicles discussed is terrain adaptive capability. The principal elements of the
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