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

: Connette, Christian; Hägele, Martin; Verl, Alexander

Fulltext urn:nbn:de:0011-n-2346629 (263 KByte PDF)
MD5 Fingerprint: 6fa0535d8cc16ea2494f4e6773298667
Created on: 27.3.2013

Basañez, Luis (Ed.) ; International Federation of Robotics; Taiwan Automation Intelligence and Robotics Association -TAIROA-:
ISR 2012, 43rd International Symposium on Robotics : Taipei, Taiwan, August 29-31, 2012. Program & Abstracts & Proceedings
Taipei/Taiwan, 2012
ISBN: 978-986-88683-0-4
International Symposium on Robotics (ISR) <43, 2012, Taipei/Taiwan>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Fahrwerksregelung; mobile robot; mobiler Roboter; Omnidirektional; ATLAS; Serviceroboter; Roboter; Regelung

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.