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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:
AuthorsInstitution or Email of Authors
Paolo, Robuffo-GiordanoPaolo.Robuffo-Giordano@Tuebingen.MPG.de
Alin, Albu-SchäfferAlin.Abu-Schäffer@dlr.de
Gerd, HirzingerGerd.Hirzinger@dlr.de
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 (old)
HGF - Program:Space (old)
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:12 Dec 2013 20:51

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