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  On the Kinematic Modeling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs

Robuffo Giordano, P., Fuchs, M., Albu-Schäffer, A., & Hirzinger, G. (2009). On the Kinematic Modeling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs. In 2009 IEEE International Conference on Robotics and Automation (pp. 4080-4087). Piscataway, NJ, USA: IEEE Service Center.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C4FF-D Version Permalink: http://hdl.handle.net/21.11116/0000-0002-FE0F-1
Genre: Conference Paper

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 Creators:
Robuffo Giordano, P1, Author              
Fuchs , M, Author
Albu-Schäffer, A, Author
Hirzinger, G, Author
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: 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.

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 Dates: 2009-05
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/ROBOT.2009.5152625
BibTex Citekey: 5892
 Degree: -

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Title: IEEE International Conference on Robotics and Automation (ICRA '09)
Place of Event: Kobe, Japan
Start-/End Date: 2009-05-12 - 2009-05-17

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Title: 2009 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Service Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4080 - 4087 Identifier: ISBN: 978-1-4244-2788-8