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Control of a nonholomic mobile robot: Backstepping kinematics into dynamics

โœ Scribed by Fierro, R. ;Lewis, F. L.

Book ID
111989880
Publisher
John Wiley and Sons
Year
1997
Tongue
English
Weight
340 KB
Volume
14
Category
Article
ISSN
0741-2223

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Kinematics, dynamics and control of a hy
Kinematics, dynamics and control of a hybrid robot Wheeleg
โœ Michele Lacagnina; Giovanni Muscato; Rosario Sinatra ๐Ÿ“‚ Article ๐Ÿ“… 2003 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 379 KB

In this paper, we propose a mathematical model for the kinematics of a hybrid robot, called Wheeleg. The wheeled-legged robot has two pneumatically actuated front legs, each with three degrees of freedom, and two rear wheels independently actuated. Based on the proposed model, the dynamics equations