Nonlinear slip dynamics for an omniwheel mobile robot platform

Daniel Stonier; Se Hyoung Cho; Sung Lok Choi; Naveen Suresh Kuppuswamy; Jong Hwan Kim

doi:10.1109/ROBOT.2007.363673

Nonlinear slip dynamics for an omniwheel mobile robot platform

Daniel Stonier, Se Hyoung Cho, Sung Lok Choi, Naveen Suresh Kuppuswamy, Jong Hwan Kim

Dept. of Computer Science and Engineering

Korea Advanced Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

34 Scopus citations

Abstract

This study investigates the nonlinear dynamics of traction for an omniwheel mobile robot platform. A nonlinear slip model is incorporated into the dynamics of the system and the resulting equations of motion are derived using a Euler-Lagrange formulation. These are additionally transformed into slip-space, where the dynamical equations lend themselves to a convenient analysis of the slip dynamics. The conventional assumptions for ideal rolling are also explored and a reduced expression for the nonlinear dynamics is generated for such situations. Preliminary explorations toward a comprehensive analysis of the dynamics for omniwheel platforms under various control schemes is also initiated.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	2367-2372
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363673
State	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 10 Apr 2007 → 14 Apr 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	10/04/07 → 14/04/07

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10.1109/ROBOT.2007.363673

Cite this

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title = "Nonlinear slip dynamics for an omniwheel mobile robot platform",

abstract = "This study investigates the nonlinear dynamics of traction for an omniwheel mobile robot platform. A nonlinear slip model is incorporated into the dynamics of the system and the resulting equations of motion are derived using a Euler-Lagrange formulation. These are additionally transformed into slip-space, where the dynamical equations lend themselves to a convenient analysis of the slip dynamics. The conventional assumptions for ideal rolling are also explored and a reduced expression for the nonlinear dynamics is generated for such situations. Preliminary explorations toward a comprehensive analysis of the dynamics for omniwheel platforms under various control schemes is also initiated.",

author = "Daniel Stonier and Cho, {Se Hyoung} and Choi, {Sung Lok} and Kuppuswamy, {Naveen Suresh} and Kim, {Jong Hwan}",

year = "2007",

doi = "10.1109/ROBOT.2007.363673",

language = "English",

isbn = "1424406021",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2367--2372",

booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",

note = "2007 IEEE International Conference on Robotics and Automation, ICRA'07 ; Conference date: 10-04-2007 Through 14-04-2007",

}

Stonier, D, Cho, SH, Choi, SL, Kuppuswamy, NS & Kim, JH 2007, Nonlinear slip dynamics for an omniwheel mobile robot platform. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209437, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2367-2372, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 10/04/07. https://doi.org/10.1109/ROBOT.2007.363673

Nonlinear slip dynamics for an omniwheel mobile robot platform. / Stonier, Daniel; Cho, Se Hyoung; Choi, Sung Lok et al.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 2367-2372 4209437 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Nonlinear slip dynamics for an omniwheel mobile robot platform

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AU - Kim, Jong Hwan

PY - 2007

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AB - This study investigates the nonlinear dynamics of traction for an omniwheel mobile robot platform. A nonlinear slip model is incorporated into the dynamics of the system and the resulting equations of motion are derived using a Euler-Lagrange formulation. These are additionally transformed into slip-space, where the dynamical equations lend themselves to a convenient analysis of the slip dynamics. The conventional assumptions for ideal rolling are also explored and a reduced expression for the nonlinear dynamics is generated for such situations. Preliminary explorations toward a comprehensive analysis of the dynamics for omniwheel platforms under various control schemes is also initiated.

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BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

Y2 - 10 April 2007 through 14 April 2007

ER -

Nonlinear slip dynamics for an omniwheel mobile robot platform

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