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
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