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Energetic decoupled work-spaces for modeling non-holonomic, omnidirectional undercarriages

By Christian Connette, Martin Hägele and Alexander Verl

Abstract

Recently, non-holonomic omnidirectional undercarriages have regained attention for high-end service-robots. To exploit the full mobility of these systems while at the same time guaranteeing smooth motion modeling and control are of paramount importance. Within this work we investigate and support an often made simplification during the modeling process. It will be shown, that - in good approximation - it is possible to energetically decouple the degrees of steerability from the degrees of mobility of the system

Topics: Fahrwerksregelung, mobile robot, mobiler Roboter, Omnidirektional, ATLAS, Serviceroboter, Roboter, Regelung
Year: 2012
OAI identifier: oai:fraunhofer.de:N-234662
Provided by: Fraunhofer-ePrints
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