This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. To overcome slip, variable length axle (VLA) has been proposed in literature. In this paper, we model the wheels as a torus and propose the use of a passive joint allowing a lateral degree of freedom. Furthermore, we model the mobile robot, instantaneously, as a hybrid-parallel mechanism with the wheel-ground contact described by differential equations which take into account the geometry of the wheel, the ground and the non-holonomic constraints of no slip. Simulation results show that a three-wheeled WMR can negotiate uneven terrain without slipping. Our proposed approach presents an alternative to variable length axle approach.
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ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 2–6, 2003
Chicago, Illinois, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-3700-9
PROCEEDINGS PAPER
Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain
Nilanjan Chakraborty,
Nilanjan Chakraborty
Indian Institute of Science, Bangalore, India
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Ashitava Ghosal
Ashitava Ghosal
Indian Institute of Science, Bangalore, India
Search for other works by this author on:
Nilanjan Chakraborty
Indian Institute of Science, Bangalore, India
Ashitava Ghosal
Indian Institute of Science, Bangalore, India
Paper No:
DETC2003/DAC-48846, pp. 1331-1341; 11 pages
Published Online:
June 23, 2008
Citation
Chakraborty, N, & Ghosal, A. "Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain." Proceedings of the ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 29th Design Automation Conference, Parts A and B. Chicago, Illinois, USA. September 2–6, 2003. pp. 1331-1341. ASME. https://doi.org/10.1115/DETC2003/DAC-48846
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