Off-road robot modeling with dextrous manipulation kinematics

@article{Auchter2008OffroadRM,
  title={Off-road robot modeling with dextrous manipulation kinematics},
  author={Joseph Auchter and Carl A. Moore},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={2313-2318}
}
We present a novel way of modeling wheeled vehicles on outdoor terrains. Adapting concepts from dextrous manipulation, we precisely model the way that three dimensional wheels roll over uneven ground. The techniques used are easily adaptable to other vehicle designs of arbitrary complexity. Our modeling method is used to validate a new concept for design of off-road vehicle wheel suspensions, called passive variable camber (PVC). Simulation results of a three-wheeled vehicle with PVC… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.

Citations

Publications citing this paper.

References

Publications referenced by this paper.
Showing 1-10 of 16 references

Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 • 2004

Experimental Study of High-speed Roughterrain Mobile Robot Models for Reactive Behaviors

K Iagnemma
Springer Tracts in Advanced Robotics • 2003
View 1 Excerpt

Kinematic Geometry of Wheeled Vehicle Systems

S. V. Sreenivasan, P. Nanua
Trans. of the ASME J. of Mech. Des., • 1999
View 2 Excerpts

Similar Papers

Loading similar papers…