The system under investigation is the hydraulically driven large-scale combined legged and wheeled vehicle ALDURO. It combines the advantages of a walking machine with the stability and speed of a wheeled vehicle. It is able to move over rugged terrain. Due to the kinematic constraints arising at the wheel-ground contact, ALDURO is a nonholonomic system which includes several closed kinematic l...

The most relevant differences existing between wheeled and legged robots, from the point of view of the expected navigation tasks to be performed using each kind of locomotion, are reviewed. We propose a new framework for legged robot navigation that replaces many implicit assumptions usually made for wheeled robots by new ones that are better suited to legged robots. Based on this, specific te...

This paper deals with the structure of the kinematic models of wheeled mobile robots (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels. In this paper it is shown that, for a large class of possible configurations of wheels, five types of configurations can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) ...

Kinematics and the dynamics analysis of a two-wheeled mobile robot comprising an oscillating intermediate central body are established in the paper. The dynamics of this mechanical system is formulated using the fundamental principle of virtual work, but it has been verified the results in the framework of the Lagrange formalism with their multipliers. The study of the dynamics problems of the ...

In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws. Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis. The dynamics formulated in terms of full-state tracking errors offer some properties that allow better understanding of the...

A two-wheeled self-balancing robot with a fuzzy PD control method is described and analyzed as an example of a high-order, multiple-variable, nonlinear, strong-coupling, and unstable system. Based on a system structure model, a kinetic equation is constructed using Newtonian dynamics andmechanics. After a number of simulation experiments, we get the bestQ,R, and state-feedback matrices. Then a ...

−− A generic kinematic control, which is directly applicable to any type of wheeled mobile robot, is proposed in this work. Firstly, it is presented the kinematic models of the four common types of wheels (fixed, centered orientable, castor and Swedish) a classification of wheeled mobile robots. Afterwards, it is proposed a kinematic control scheme with three nested loops: dynamic, kinematic an...

Path following controller, designed according to the principle of following a virtual robot, for a gyroscopically stabilized single-wheeled robot (gyrobot) is presented in this paper. Linear and angular velocities of the virtual robot are pre-computed such that it follows the desired path. These velocities also constitute the feed-forward component of the reference velocities for the gyrobot. T...

This paper surveys past and current designs of surface mobility systems lor planetary exploration i robots developed at JPL/Canech. Wheeled rovers are ! discussed in some detail, andxompared to new designs, such as legged and hopping robots, which are emerging as viable alternatives to wheeled mobility for specific applications. The paper discusses the main features of mobility designs and summ...

This paper presents the mobility augmentation method to provide omnidirectional mobility to nonomnidirectional wheeled bases. First, the kinematic model of a nonomnidirectional wheeled base and a link combined by an extra revolute/prismatic joint to the base is derived in a matrix-vector form. Then it is shown that, if the kinematic model satisfies some structural conditions, the link motion ca...