Articles | Volume 7, issue 1
Research article
06 Apr 2016
Research article |  | 06 Apr 2016

Remarks on the classification of wheeled mobile robots

Christoph Gruber and Michael Hofbaur

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Alexander, J. C. and Maddocks, J. H.: On The Kinematics of Wheeled Mobile Robots, Int. J. Robot. Res., 8, 15–27, 1989.
Bak, T., Bendtsen, J., and Ravn, A.: Hybrid control design for a wheeled mobile robot, in: Hybrid Systems: Computation and Control, Springer-Verlag, 50–65, (last access: 5 April 2016), 2003.
Betourne, A., Campion, G., and Bètournè, A.: Kinematic modelling of a class of omnidirectional mobile robots, in: Proceedings of IEEE International Conference on Robotics and Automation, 22–28 April 1996, Minneapolis, 3631–3636,, 1996.
Bullo, F. and Lewis, A. D.: Geometric Control of Mechanical Systems, Springer-Verlag, New York, XXIV, 727, 2005.
Campion, G. and Chung, W.: Wheeled Robots, in: Springer Handbook of Robotics, chap. 17, edited by: Siciliano, B. and Kathib, O., Springer-Verlag, Berlin, Heidelberg, 391–410, 2008.
Short summary
The subject of this work is modeling of single-bodied wheeled mobile robots. In the past, it was shown that the kinematics of each such robot can be modeled by one out of only five different generic models. However, the precise conditions under which a model is the proper description of the kinematic capabilities of a robot were not clear. These shortcomings are eliminated in this work, leading to a simple procedure for model selection and a classification of singularities.