Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots
1. Basic Motion of Wheeled Vehicles in a Ground Plane: (A Forerunner to Legged Vehicles)
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This chapter explores basic theories related to creating vehicle motion in a ground plane, e.g. a road, using wheels whose axles are always parallel to the ground plane. Wheels that lean, such as with bicycles, are not considered. The idea is to generate vehicle motion concepts based on wheels because wheeled motion, acting as a forerunner to legged motion, is more easily grasped than starting with more complex vehicle motion using legs. Chapter 3 follows up with the real-time programming of an actual wheeled vehicle so the reader can see theory in practice. Later, in chapter 10, these concepts are translated into equivalent motion of a robot using legs such that wheeled vehicle motion is entirely replaced with legs. However, we first start with understanding the simplified motion of a single wheel.