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

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C4FF-D
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.