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A Kinematic Modeling Method for a Wheeled Mobile Robot
Chang Y(常勇); Ma SG(马书根); Wang HG(王洪光); Tan DL(谈大龙)
Department机器人学研究室
Conference NameIEEE International Conference on Mechatronics and Automation
Conference DateAugust 9-12, 2009
Conference PlaceChangchum, China
Author of SourceIEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol
Source Publication2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
PublisherIEEE
Publication PlaceNEW YORK
2009
Pages1100-1105
Indexed ByEI ; CPCI(ISTP)
EI Accession number20100912742999
WOS IDWOS:000280158100200
Contribution Rank1
ISBN978-1-4244-2692-8
KeywordWheeled Mobile Robot Kinematic Modeling Kinematics
AbstractThis paper presents a modeling method called "Wheel-Center Modeling" for kinematics of a wheeled mobile robot that moves on uneven terrain. The technique is verified by analyzing the special locomotion characteristics of the multi-rigid body and wheels of a wheeled mobile robot. A six-wheeled mobile robot with the called "Rocker-bogie" suspension has been modeled by using this method. The proposed method was verified by simulation where the robot moves on a flat plane.
Language英语
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8484
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan
3.Graduate School of the Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Chang Y,Ma SG,Wang HG,et al. A Kinematic Modeling Method for a Wheeled Mobile Robot[C]//IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol. NEW YORK:IEEE,2009:1100-1105.
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