Title :
Kinematic motion model for jumping scout robots
Author :
Stoeter, Sascha A. ; Papanikolopoulos, Nikolaos
Author_Institution :
Inst. of Robotics & Intelligent Syst., Swiss Fed. Inst. of Technol., Zurich, Switzerland
fDate :
4/1/2006 12:00:00 AM
Abstract :
/sup T/he University of Minnesota´s Scout is a small cylindrical robot capable of rolling and jumping. Models describing the robot´s motion are developed. These models can be employed for motion prediction and simulation. The results suggest that the determining factor of the Scout´s behavior is the length of the winch cable.
Keywords :
mobile robots; robot kinematics; University of Minnesota Scout robot; cylindrical robot; jumping scout robots; kinematic motion model; motion prediction; robot motion; winch cable; Jumping; miniature robotics; mobile robot kinematics; rolling;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.862483
