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IROS
2007
IEEE
148views Robotics» more  IROS 2007»
13 years 10 months ago
Kinematic analysis and control of an omnidirectional mobile robot in rough terrain
—An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional robots h...
Martin Udengaard, Karl Iagnemma
ICRA
2008
IEEE
240views Robotics» more  ICRA 2008»
13 years 10 months ago
Design of an omnidirectional mobile robot for rough terrain
—An omnidirectional mobile robot is able, kinematically, to move in any planar direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional r...
Martin Udengaard, Karl Iagnemma
IROS
2006
IEEE
157views Robotics» more  IROS 2006»
13 years 9 months ago
Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem...
Thomas M. Howard, Alonzo Kelly
ICRA
2007
IEEE
212views Robotics» more  ICRA 2007»
13 years 10 months ago
Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots
— Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered whee...
Jingang Yi, Dezhen Song, Junjie Zhang, Zane Goodwi...
ICRA
2002
IEEE
136views Robotics» more  ICRA 2002»
13 years 8 months ago
Motion Dynamics of a Rover with Slip-Based Traction Model
This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the ...
Kazuya Yoshida, Hiroshida Hamano