— Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and sys...
: This paper describes our work on Desktop Robotics. The main focus is two robots that locomote and manipulate paper on a desktop. One robot uses wheels for both manipulation and l...
Matthew T. Mason, Dinesh K. Pai, Daniela Rus, Jon ...
A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction...
—An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional robots h...