kinematic modeling and control

On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs

FREE DOWNLOAD [PDF]PR Giordano, M Fuchs… – … , 2009. ICRA’09. …, 2009 –

Abstract—Mobile platforms equipped with several steering wheels are known to be
omnidirectional, ie, able to indepen- dently translate and rotate on the plane. As an improvement
to this design, the Justin mobile platform also possesses the ability to vary its footprint