In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws. Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis. The dynamics formulated in terms of full-state tracking errors offer some properties that allow better understanding of the...

Mobile robot, especially wheeled mobile robot, with its simple mechanical structure and inherent agility, has attracted significant attentions for dynamic environment applications in the last two decades (Pin et al. 1994 and Purwin 2006). A general mobile robot Guidance, Navigation and Control (GNC) system is illustrated in the following figure. The main function of guidance system is to genera...

This paper presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pairs of WMRs including wheeled pairs which were dealt with ad-hoc manners in the previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF...

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...

We address the potential for continuous “continuum” robot elements to transform the nature of robotic traversal of uneven terrain. Continuum robots are “dual” to traditional robot structures, with their inherent capabilities featuring strengths in areas that are key weaknesses for conventional robots. These capabilities match well to current challenges in robot mobility, particularly in unstruc...