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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 IEEE International Conference on Robotics and Automation (ICRA '09) (pp. 4080-4087). Piscataway, NJ, USA: IEEE Service Center.

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Robuffo Giordano, P1, Autor           
Fuchs M, Albu-Schäffer, A, Autor
Hirzinger, G, Autor
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Zusammenfassung: 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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 Datum: 2009-05
 Publikationsstatus: Erschienen
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 Identifikatoren: ISBN: 978-1-4244-2788-8
URI: http://www.icra2009.org/
DOI: 10.1109/ROBOT.2009.5152625
BibTex Citekey: 5892
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Titel: IEEE International Conference on Robotics and Automation (ICRA '09)
Veranstaltungsort: Kobe, Japan
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Titel: IEEE International Conference on Robotics and Automation (ICRA '09)
Genre der Quelle: Konferenzband
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Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE Service Center
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 4080 - 4087 Identifikator: -