The subject of this chapter is the control problem for nonholonomic wheeled. Of geometric smoothness is in general noduri alpinism pdf required for nonholonomic robots. Nev.Mobile robots did not wait to know that they were nonholonomic to plan and. Of robot motion planning: as examples, in 1969, the mobile robot Shakey used. From a kinematic point of view, the main characteristic of wheeled rob...

A key methodology for the development of autonomous robots is testing using simulated robot motion and sensing systems. An important issue when simulating teams of heterogeneous autonomous robots is performance versus accuracy. In this paper the multi-robot-simulation framework (MuRoSimF) is presented which allows the flexible and transparent exchange and combination of the algorithms used for ...

The autonomous wheeled mobile robots are very interesting subject both in scientific research and practical applications. The article deals with the fuzzy control of autonomous wheeled mobile robotic platform motion in an unstructured environment with obstacles. The simulation results show the effectiveness and the validity of the obstacle avoidance behaviour in unstructured environments and th...

This letter studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from hybrid wheeled and legged design features. A comprehensive hierarchical scheme planning control with robots is developed. Underactuation dynamics main difficulty to be addressed, especially in problem. To tackle this issue, novel wheeled-spring-loaded inverted pendulum (W-SLIP) model ...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. But people and animals using their legs can go almost anywhere. Our mission at Boston Dynamics is to develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living creatures. Such robots will travel in outdoor terrain that is too steep, rutted, rocky, wet, muddy, and ...

In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended ...

This paper presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pairs of WMRs including wheeled pairs which were dealt with ad-hoc manners in the previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF...