Plural Wheels Control based on Slip Estimation

Abstract

In our current research, we are developing a holonomic mobile system which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over non-flat ground in forward or backward direction using the passive suspension mechanism. In order to realize the high mobile performance during step… (More)
DOI: 10.1109/IROS.2006.282272

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