Abstract:
In this paper, we develop an elaborate three-dimensional dynamical model for a novel single-actuator variable-diameter differentially-driven robot by taking recourse to L...Show MoreNotes: This article was mistakenly omitted from the original submission to IEEE Xplore. It is now included as part of the conference record.
Metadata
Abstract:
In this paper, we develop an elaborate three-dimensional dynamical model for a novel single-actuator variable-diameter differentially-driven robot by taking recourse to Lagrangian formulation. Utilizing this model, we were able to analyze the various parameters and develop design tools that could be used in realizing such a robot with certain motion requirements. Given the single actuator design that inherently limits steering, the proposed model is an excellent platform to test optimal path planning techniques such as Dubins curves. We study the effect of dynamical forces on following time-optimal trajectories and finally we analyze the controllability of our system.
Notes: This article was mistakenly omitted from the original submission to IEEE Xplore. It is now included as part of the conference record.
Date of Conference: 07-11 July 2015
Date Added to IEEE Xplore: 31 March 2016
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