This paper deals with the benefits and drawbacks of hexapods in Wheeled Mobile Driving Simulators. Therefore, a large and a small hexapod are considered and investigated in regard to their potential to reduce power, energy, and workspace demand of a Wheeled Mobile Driving Simulator. This is done by employing the hexapod for representing horizontal acceleration cues. Furthermore, the hexapod may...

Wheeled mobile robots are increasingly present in industrial and service robotics, requiring adequate solutions for the motion control problem. With reference to the unicycle kinematics, several control strategies for trajectory tracking and posture stabilization are reviewed and compared on simulation and experimental level. Experiments are reported for BellyBot, a two-wheel differentially-dri...

As the speed and payload of Wheeled Mobile Robots (WMRs) increases and the clearances between obstacles and docking error tolerances decreases, methods for reducing tracking errors become increasingly important for a successful application. In this paper techniques and results are presented for improved tracking control of a WMR through the generation and dynamic simulation of paths with and wi...

The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs). With reference to the unicycle kinematics, we review and compare several control strategies for trajectory tracking and posture stabilization in an environment free of obstacles. Experiments are reported for SuperMARIO, a two-wheel differentially-driven mobile robot. From the comparison of the obtained re...