NDLI: Reconfigurable robots with Heterogeneous Drive Mechanisms: The kinematics of the Heterogeneous Differential Drive

Content Provider	IEEE Xplore Digital Library
Author	Voyles, R.M. Godzdanker, R.
Copyright Year	2010
Description	Author affiliation: Collaborative Mechatronics Laboratory, University of Denver, CO 80208, USA (Voyles, R.M.; Godzdanker, R.)
Abstract	Statically and dynamically reconfigurable robot mechanisms have been extensively studied by a number of researchers. Control formulations have been proposed for specific mechanisms and some researchers have tried to build unified frameworks for general robot control. This paper reports an extension of the differential drive mechanism that we call the Heterogeneous Differential Drive. Bridging the gap between differential drive mechanisms and skid-steered mechanisms, the heterogeneous differential drive permits the modular combination of different types of actuators with different capabilities under one unified framework. It is a step toward a unified framework for actuators we call Heterogeneous Drive Mechanisms that permits reconfigurable mechanisms with homogeneous or heterogeneous components. The heterogeneous differential drive is a theoretical class of vehicles that lies in the gray area between pure differential drive vehicles and pure skid steered vehicles, yet represents either at the extremes. The heterogeneous differential drive also provides the basis for our preliminary development of the heterogeneous drive. This paper develops the kinematic model of the heterogeneous differential drive from the kinematic model of the differential drive formulation and describes an example mechanism.
Starting Page	1340
Ending Page	1346
File Size	962120
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652448
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Actuators Vehicles Kinematics Mobile robots Vehicle dynamics
Content Type	Text
Resource Type	Article

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