Slip measurement and vehicle control for leg/wheel mobile robots using caster type odometers.
Yohei WatanabeKenichiro NonakaPublished in: CCA (2011)
Keyphrases
- mobile robot
- wheel slip
- motion control
- kinematic model
- inverted pendulum
- control strategy
- autonomous vehicles
- control system
- sagittal plane
- motion planning
- path planning
- obstacle avoidance
- robot control
- wheeled mobile robots
- control method
- indoor environments
- autonomous robots
- robotic systems
- unstructured environments
- electric vehicles
- disturbance rejection
- walking robot
- vehicle detection
- dynamic environments
- feedback control
- real time
- biped robot
- multi robot
- data acquisition
- outdoor environments
- unknown environments
- mobile robotics
- control algorithm
- expert systems