Reconfigurable Omnidirectional Articulated Mobile Robot (ROAMeR)

ARTICULATED WHEELED ROBOTS: EXPLOITING RECONFIGURABILITY AND REDUNDANCY Articulated Wheeled Robotic (AWR) locomotion systems consist of chassis connected to a set of wheels through articulated linkages. Such articulated leg-wheel systems facilitate reconfigurability that has significant applications in many arenas, but also engender constraints that make the design, analysis and control difficult. We will study this class of systems in the context of design, analysis and control of a novel …

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