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Wheeled Robots

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Springer Handbook of Robotics

Abstract

The purpose of this chapter is to introduce, analyze, and compare the models of wheeled mobile robots (WMR) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. According to this discussion it is shown that, whatever the number and the types of the wheels, all WMR belong to only five generic classes. Different types of models are derived and compared: the posture model versus the configuration model, the kinematic model versus the dynamic model. The structural properties of these models are discussed and compared. These models as well as their properties constitute the background necessary for model-based control design. Practical robot structures are classified according to the number of wheels, and features are introduced focusing on commonly adopted designs. Omnimobile robots and articulated robots realizations are described in more detail.

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Abbreviations

ICR:

instantaneous center of rotation

WMR:

wheeled mobile robot

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Author information

Authors and Affiliations

  1. Centre dʼIngénierie des Systèmes dʼAutomatique et de Mécanique Appliquée, Université Catholique de Louvain, 4 Avenue G. Lemaître, 1348, Louvain-la-Neuve, Belgium

    Guy Campion PhD

  2. Department of Mechanical Engineering, Korea University, Anam-dong, Sungbuk-ku, 136-701, Seoul, Korea

    Woojin Chung Prof

Authors
  1. Guy Campion PhD
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  2. Woojin Chung Prof
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Corresponding authors

Correspondence to Guy Campion PhD or Woojin Chung Prof .

Editor information

Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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© 2008 Springer-Verlag

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Campion, G., Chung, W. (2008). Wheeled Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_18

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_18

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

  • eBook Packages: EngineeringEngineering (R0)

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