Title :
Motion analysis of a wheel-like articulated closed chain
Author :
Melo, Kamilo Andrès ; Velasco, Alexandra
Author_Institution :
Dept. de Electron., Pontificia Univ. Javeriana, Bogota, Colombia
Abstract :
In this article we posit a general framework and outline for analyzing the holonomic motion of a closed robotic chain imitating a wheel. We give a general view of the state of the art concerning limbless locomotion; we explain briefly the robot terrain interaction modeling and expose the steps to follow for the analysis.
Keywords :
chains; mobile robots; motion control; robot dynamics; wheels; closed robotic chain; holonomic motion; limbless locomotion; motion analysis; robot terrain interaction modeling; wheel-like articulated closed chain; Analytical models; Joints; Mathematical model; Mobile robots; Servomotors; Wheels; Mobile robot dynamics; Mobile robot kinematics; Modeling; Motion analysis; Servomotors; kinodynamics;
Conference_Titel :
ANDESCON, 2010 IEEE
Conference_Location :
Bogota
Print_ISBN :
978-1-4244-6740-2
DOI :
10.1109/ANDESCON.2010.5630148
