Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 6136-6142

  Dietrich, Alexander ^a   Wimböck, Thomas ^a   Albu Schäffer, Alin ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ADDITIONAL CONTROL; CONTROL INPUTS; CONTROLLED SYSTEM; INSTANTANEOUS CENTER OF ROTATION; LEG LENGTH; MOBILE PLATFORM; MOTION TRAJECTORIES; NONHOLONOMICS; OMNIDIRECTIONALITY; ROTATIONAL TRAJECTORIES; SINGULAR CONFIGURATIONS; SINGULARITY AVOIDANCE; SPINNING RATE; STEERING ANGLES; STEERING WHEEL;

FEEDBACK LINEARIZATION; MOBILE PHONES; WHEELS;

ROBOTICS;

EID: 84862274678     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979549     Document Type: Conference Paper

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