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Authors: Hélder P. Oliveira ; Armando J. Sousa ; A. Paulo Moreira and Paulo J. Costa

Affiliation: Faculdade de Engenharia, Universidade do Porto, Portugal

Keyword(s): Identification, simulation, modeling and omni-directional mobile robots.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

Abstract: Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.

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Paper citation in several formats:
P. Oliveira, H.; J. Sousa, A.; Paulo Moreira, A. and J. Costa, P. (2008). DYNAMICAL MODELS FOR OMNI-DIRECTIONAL ROBOTS WITH 3 AND 4 WHEELS. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 189-196. DOI: 10.5220/0001489201890196

@conference{icinco08,
author={Hélder {P. Oliveira}. and Armando {J. Sousa}. and A. {Paulo Moreira}. and Paulo {J. Costa}.},
title={DYNAMICAL MODELS FOR OMNI-DIRECTIONAL ROBOTS WITH 3 AND 4 WHEELS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2008},
pages={189-196},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001489201890196},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - DYNAMICAL MODELS FOR OMNI-DIRECTIONAL ROBOTS WITH 3 AND 4 WHEELS
SN - 978-989-8111-31-9
IS - 2184-2809
AU - P. Oliveira, H.
AU - J. Sousa, A.
AU - Paulo Moreira, A.
AU - J. Costa, P.
PY - 2008
SP - 189
EP - 196
DO - 10.5220/0001489201890196
PB - SciTePress

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