We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonh...
A common mobile robot design consists of three `omniwheels' arranged at the vertices of an equilateral triangle, with wheel axles aligned with the rays from the center of the...
Devin J. Balkcom, Paritosh A. Kavathekar, Matthew ...
— 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...
Paolo Robuffo Giordano, Matthias Fuchs, Alin Albu-...
This paper introduces a new approach to the design and control of a four-degree-of-freedom (4DOF) vehicle. This vehicle can travel sideways and it can negotiate tight turns easily...