Coordinated Control of a Nonholonomic Mobile Manipulator p. 139 Exploiting Redundancy for Autonomous Calibration of a Planar Robot p. 151 Models for Automated Earthmoving p. 163 Robot Control in Maxillofacial Surgery p. 173 Experiments and Experiences in Developing a Large Robot Mining System p. 183 Slope Display on a Locomotion Interface p. 193 Control of Contact Forces in Wheeled and Legged O...

An international track wheelchair (ITWC) with a center of gravity directional controller (COGDC) is described in this paper. The rules for international track competition disallow devices designed solely for steering. Equipment has been disqualified for having steering handles, crown compensators, and other lever systems. However, the rules do allow tie-rod linkage and the use of springs for da...

Currently the majority of dozing operations are conducted using tracked vehicles with a fixed blade cutting angle. There is interest from industry in exploring alternatives to tracked vehicles for small scale dozing operations because of the limitations of the platform. One alternative is a six-wheeled vehicle with independent drives and an active suspension. This alternative has higher mobilit...

This paper describes an Extended Kalman Filter for a wheel mounted inertial measurement unit using two accelerometers and a single gyroscope as a substitute for classical odometry sensing. The sensor can be mounted with minimal effort on existing wheeled vehicles. It is highly robust against vibration while rolling on uneven terrain and can cope with higher speeds even when the measurement rang...

Over the last decennia there has been a wide interest in walking robots. They are potentially more capable of moving through the human environment and going over rough terrain than wheeled vehicles. We generate some 2D gaits for an approximately 0.5 [m] tall human like entertainment robot and we apply these in a very first experiment. The locomotion types we study are: walking at constant veloc...