— This paper discusses current wheeled mobility work on a hybrid wheeled-leg robot called PAW. In addition to providing design details, controllers are proposed for inclined turn...
We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic...
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonh...
— This paper studies the problem of stabilizing wheeled mobile robots (WMRs) subject to wheel slippage to a predefined set. When slippage of the wheels can occur, WMRs can be mo...
— This paper discusses the first implementation of a dynamically stable bounding gait on a hybrid wheeled-leg robot. Design of the robot is reviewed and the controllers which al...