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On the Kinematic Modeling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs
Paolo, Robuffo-Giordano and Alin, Albu-Schäffer and Gerd, Hirzinger (2009) On the Kinematic Modeling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs. In: Proceedings. ICRA2009, International Conference on Robotics and Automation , 12. Mai - 17. Mai 2009, Kobe, Japan.
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Abstract
Mobile platforms equipped with several steering wheels are known to be omnidirectional, i.e., able to independently translate and rotate on the plane. As an improvement to this design, the Justin mobile platform also possesses the ability to vary its footprint over time by extending/retracting the wheel legs during motion. In this paper, we discuss the kinematic modeling and control issues for such a platform. The goal is to obtain a tracking controller able to realize an arbitrary linear/angular platform motion while, at the same time, independently expanding/retracting each leg. Experimental results support the proposed approach.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Title: | On the Kinematic Modeling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs | ||||||||
| Authors: |
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| Date: | 12 May 2009 | ||||||||
| Journal or Publication Title: | Proceedings | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Status: | Published | ||||||||
| Keywords: | Kinematic Modeling, Control of a Mobile Platform | ||||||||
| Event Title: | ICRA2009, International Conference on Robotics and Automation | ||||||||
| Event Location: | Kobe, Japan | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 12. Mai - 17. Mai 2009 | ||||||||
| Organizer: | IEEE | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||
| Deposited On: | 15 Jan 2010 08:32 | ||||||||
| Last Modified: | 15 Jan 2010 08:32 |
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