NDLI: Motion control of differential wheeled robots with joint limit constraints

Content Provider	IEEE Xplore Digital Library
Author	Gonzalez-Gomez, J. Victores, J.G. Valero-Gomez, A. Abderrahim, M.
Copyright Year	2011
Description	Author affiliation: Department of System Engineering and Automation, Universidad Carlos III de Madrid (Gonzalez-Gomez, J.; Victores, J.G.; Valero-Gomez, A.; Abderrahim, M.)
Abstract	The motion of wheeled mobile robots is inherently based on their wheels' rolling capabilities. The assumption is that each wheel can rotate indefinitely, backwards or forward. This is the starting point for all motion control mechanisms of wheeled robots. In this paper, a new motion capability of differential mobile robots with limited wheel rotation capabilities is presented. The robot will be able to travel any distance and change its direction of movement even if its wheels can not rotate within more than a certain range of angles. The proposed solution is based on the bio-inspired controller principles used for modular and legged robots, in which oscillations are generated for achieving motion. A total of two oscillators, one per wheel, are enough to generate well-coordinated rhythms on the wheels to control the robot motion. The kinematics of this new type of mobile robot motion is presented, and the relation between the oscillator's parameters and the trajectory is studied. Experiments with real robots will demonstrate the viability of this new locomotion gait.
Starting Page	596
Ending Page	601
File Size	1532220
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181351
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Mobile robots Robot kinematics Trajectory Oscillators Joints
Content Type	Text
Resource Type	Article

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