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A New Family of Two-Wheeled Mobile Robots: Modeling and Controllability

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2 Author(s)
Salerno, A. ; Dept. of Mech. Eng., McGill Univ., Montreal, Que. ; Angeles, J.

This paper introduces a new family of two-wheeled mobile robots. The mathematical model of the proposed robots is formulated along with a controllability analysis, also taking into account the oscillations of the intermediate body. We prove that it is possible to completely control these robots using only the wheel motors, while tracking a desired path

Published in:

Robotics, IEEE Transactions on  (Volume:23 ,  Issue: 1 )

Date of Publication:

Feb. 2007

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