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2007
121views Robotics» more  RSS 2007»
9 years 5 months ago
Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots
— We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system’s open-loop dynamics w...
Dongjun Lee
ICRA
2007
IEEE
142views Robotics» more  ICRA 2007»
9 years 10 months ago
Hybrid Model Predictive Control for Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage
— This paper studies the problem of stabilizing wheeled mobile robots (WMRs) subject to wheel slippage to a predefined set. When slippage of the wheels can occur, WMRs can be mo...
Shangming Wei, Milos Zefran, Kasemsak Uthaichana, ...
ICRA
2003
IEEE
149views Robotics» more  ICRA 2003»
9 years 9 months ago
Curvature Based Point Stabilization for Compliant Framed Wheeled Modular Mobile Robots
- Posture stabilization of a compliant framed modular mobile robot is the subject of this paper. This is a new type of wheeled mobile robot that has advantages of a simple modular ...
Brian W. Albiston, Mark A. Minor
ICRA
2006
IEEE
116views Robotics» more  ICRA 2006»
9 years 9 months ago
PAW: a Hybrid Wheeled-leg Robot
— This paper discusses current wheeled mobility work on a hybrid wheeled-leg robot called PAW. In addition to providing design details, controllers are proposed for inclined turn...
James Andrew Smith, Inna Sharf, Michael Trentini
HYBRID
2003
Springer
9 years 8 months ago
Hybrid Control Design for a Wheeled Mobile Robot
We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic...
Thomas Bak, Jan Bendtsen, Anders P. Ravn
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