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Modeling of wheeled mobile robots using dextrous manipulation kinematics

Auchter, Joseph and Moore, Carl and Ghosal, Ashitava (2007) Modeling of wheeled mobile robots using dextrous manipulation kinematics. In: Proceedings of the World Congress on Engineering and Computer Science 2007,WCECS 2007, October 24-26, 2007, San Francisco.

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Abstract—This document introduces a new kinematic simulation of a wheeled mobile robot operating on uneven terrain. Our modeling method borrows concepts from dextrous manipulation. This allows for an accurate simulation of the way 3-dimensional wheels roll over a smooth ground surface. The purpose of the simulation is to validate a new concept for design of off-road wheel suspensions, called Passive Variable Camber (PVC). We show that PVC eliminates kinematic slip for an outdoor robot. Both forward and inverse kinematics are discussed and simulation results are presented.

Item Type: Conference Paper
Keywords: kinematics;mobile robots;uneven terrain;dextrous manipulation.
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 28 Oct 2011 09:28
Last Modified: 28 Oct 2011 09:28
URI: http://eprints.iisc.ac.in/id/eprint/41770

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