—This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using...
Eui-Jung Jung, Ho Yul Lee, Jae Hoon Lee, Byung-Ju ...
— 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...
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...
We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem...
— 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...