Conference
Off-road robot modeling with dextrous manipulation kinematics
Abstract
We present a novel way of modeling wheeled vehicles on outdoor terrains. Adapting concepts from dextrous manipulation, we precisely model the way that three dimensional wheels roll over uneven ground. The techniques used are easily adaptable to other vehicle designs of arbitrary complexity. Our modeling method is used to validate a new concept for design of off-road vehicle wheel suspensions, called passive variable camber (PVC). Simulation …
Authors
Auchter J; Moore CA
Pagination
pp. 2313-2318
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
May 1, 2008
DOI
10.1109/robot.2008.4543559
Name of conference
2008 IEEE International Conference on Robotics and Automation
Conference proceedings
2014 IEEE International Conference on Robotics and Automation (ICRA)
ISSN
2152-4092