DocumentCode
2232969
Title
Scout robot motion model
Author
Stoeter, Sascha A. ; Burt, Ian T. ; Papanikolopouslos, N.
Author_Institution
Center for Distributed Robotics, Minnesota Univ., MN, USA
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
90
Abstract
The University of Minnesota´s Scout robot is a small cylindrical robot capable of rolling and jumping. In this paper, models describing the robot´s motion under its mode of actuation are developed. These models can be employed for Scout motion prediction and simulation. The models suggest that the determining factor of the Scout´s behavior is the length of the winch cable. The validity of the models is verified with empirical data.
Keywords
mobile robots; motion control; path planning; robot kinematics; University of Minnesota; cylindrical robot; jumping; motion prediction; rolling; scout robot motion model; winch cable; Foot; Mathematical model; Mobile robots; Motion control; Orbital robotics; Predictive models; Robot motion; Springs; Wheels; Winches;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241578
Filename
1241578
Link To Document