TY - GEN
T1 - On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs
AU - Robuffo Giordano, P.
AU - Fuchs, M.
AU - Albu-Schäffer, A.
AU - Hirzinger, G.
PY - 2009
Y1 - 2009
N2 - Mobile platforms equipped with several steering wheels are known to be omnidirectional, i.e., able to independently translate and rotate on the plane. As an improvement to this design, the Justin mobile platform also possesses the ability to vary its footprint over time by extending/retracting the wheel legs during motion. In this paper, we discuss the kinematic modeling and control issues for such a platform. The goal is to obtain a tracking controller which is able to realize an arbitrary linear/angular platform motion while, at the same time, independently expanding/retracting each leg. Experimental results support the proposed approach.
AB - Mobile platforms equipped with several steering wheels are known to be omnidirectional, i.e., able to independently translate and rotate on the plane. As an improvement to this design, the Justin mobile platform also possesses the ability to vary its footprint over time by extending/retracting the wheel legs during motion. In this paper, we discuss the kinematic modeling and control issues for such a platform. The goal is to obtain a tracking controller which is able to realize an arbitrary linear/angular platform motion while, at the same time, independently expanding/retracting each leg. Experimental results support the proposed approach.
UR - https://www.scopus.com/pages/publications/77955840028
U2 - 10.1109/ROBOT.2009.5152625
DO - 10.1109/ROBOT.2009.5152625
M3 - Conference contribution
AN - SCOPUS:77955840028
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4080
EP - 4087
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -