Design and control of a four steered wheeled mobile robot

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2006, Pages 4020-4025

  Lauria, Michel ^a   Nadeau, Isabelle ^a   Lepage, Pierre ^a   Morin, Yan ^a   Giguère, Patrick ^a   Gagnon, Fréderic ^a   Létourneau, Dominic ^a   Michaud, François ^a  

^a UNIVERSITÉ DE SHERBROOKE   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ELECTRONICS INDUSTRY; INDUSTRIAL ELECTRONICS; MACHINE DESIGN; MOBILE ROBOTS; ROBOTICS; ROBOTS;

ANNUAL CONFERENCE; CON TROL ALGORITHMS; DEGREE OF MOBILITY; DESIGN AND CONTROL; DESIGN IMPLEMENTATIONS; GEOMETRICAL CONSTRAINTS; GEOMETRICAL PROPERTIES; KINEMATICAL ANALYSIS; KINEMATICAL MODELS; LOCOMOTION MODES; NON-HOLONOMIC ROBOT; WHEELED MOBILE ROBOTS;

WHEELS;

EID: 50249113359     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2006.347877     Document Type: Conference Paper

References (6)

1. Michaud, F., Létourneau, D., Paré, J.-F., Legault, M.-A., Cadrin, R., rsenault, M., Bergeron, Y., Tremblay, M.-C., Gagnon, F., Millette, M., Lepage, P., Morin, Y., Caron, S. (2005), "Multi-modal locomotion robotic platform using leg-track-wheel articulations", Autonomous Robots, Special Issue on Unconventional Robotic Mobility, 18(2): 137-156.
2. G. Campion, G. Bastin, B. d'Andréa Novel, «Structural properties and classification of kinematic and dynamic models of wheeled mobile robots», IEEE Transactions on Robotics and Automation, vol 12(1), pp. 47-62, 1996.
3. J.-J. Kraig, Introduction to Robotics, Mechanics and Control, Pearson Prentice Hall, 2005.
4. th International Conference on Field and Service Robotics, July 14-16, 2003, Japan.
5. Y. Mori, E. Nakano, T. Takahahsi, "Mechanics, control and design methodology of the non-holonomic quasi-omnidirectional vehicle OD V9", The International Journal of Robotic Research, 21(5-6): 511-525, May-June 2002.
6. D. Robinson, "Design and analysis of series elasticity in closed loop actuator force control", Ph.D. Thesis, Massachusetts Institute of Technology, 2000.