Combining off-the-shelf components with 3D- printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well two coupled unstable degrees of freedom, provides challenging platform for nonlinear data-driven control research. This letter presents Wheelbot's mechanical electrical design, e...

A new type of holonomic omnidirectionul vehicle which consists of wheel mechanisms without free rollers but with conventional tires is presented. We first present a concept of the new driving wheel mechanism with a tire in the conventional style such QS a rubber tire or a pneumatic tire,"Offset Steered Driving Wheel". The configuration of the wheel has an offset distance between a wheel axle an...

This work studies the labeled multi-robot path and motion planning problem in continuous domains, in the absence of static obstacles. Given n robots which may be arbitrarily close to each other and assuming random start and goal configurations for the robots, we derived an O(n), complete algorithm that produces solutions with constantfactor optimality guarantees on both makespan and distance op...

We study Jacobian inverse kinematics algorithms for mobile manipulators composed of a nonholonomic mobile platform and a holonomic onboard manipulator. In general, the Jacobian algorithms converge locally, often producing weird end effector and platform trajectories. In the paper we use the existing theory of Newton algorithms in order to improve the quality of convergence of the Jacobian algor...

Several schemes have been proposed in the path planning-literature to plan collision-free and feasible trajectories for non-holonomic mobile robots. A classical scheme is the two-step approach proposed in 4, 8, 5] which consists in rst computing a collision-free holonomic path, and then in transforming this path by a sequence of feasible ones. The quality of the solution and the computational c...

This paper presents the design and learning architecture for a fully holonomic omnidirectional walk used by the UT Austin Villa humanoid robot soccer agent acting in the RoboCup 3D simulation environment. By “fully holonomic” we mean the walk allows for movement in all directions with equal velocity. The walk is based on a double linear inverted pendulum model and was originally designed for th...

Holonomic quantum computation makes use of non-abelian geometric phases, associated to the evolution a subspace states, encode logical gates. We identify special class subspaces, for which sequence rotations results in holonomy topological nature, so that it is invariant under any SO(3)-perturbation. Making Majorana-like stellar representation we give explicit examples topological-holonomic (or...

This paper deals with coordinated tasks for mobile nonholonomic manip-ulators. The systems are composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. First, concepts such that redundancy and singular conngurations are deened. Then, reduced diierential models are introduced. It is then possible to work with a set of independant task coordinates. Applications follo...

This paper considers a pursuit-evasion game for non-holonomic systems where a number of pursuers attempt to capture a single evader in a bounded connected domain. The problem is challenging because all vehicles have the same manoeuvring capability and are subject to turn radius constraints making them non-holonomic systems. The paper initially presents simple and alternate proofs for results ex...

In this paper, new attitude maneuver using non-holonomic turn is proposed. The essence of this turn is characterized by an under-actuated system which does not have a direct torque device around the intended axis is made through what we call a coning motion. It is well known that falling cat motion utilizes non-holonomic turn. This paper shows the motion structure interpretation, in which a ver...