@inproceedings{bcdcdcf56d714405b68c442010b35247,
title = "Kinematics of robot with castered-and-cambered wheels with respect to drive configuration topology",
abstract = "A universal 3-D kinematic model is first proposed towards a four-wheeled robot with casters and cambers. The effects of caster and camber are next analyzed. Based on closed-chain space and Instantaneous Superposition Frame (ISR), a 3-D kinematical model of the articulated mobile robots with caster-cambered wheels and individual steering mechanism is built. The backward kinematics and estimation of unmeasurable variables are presented. Finally, a general solution to the backward kinematics for the drive configuration topology is discussed analytically.",
keywords = "Camber, Caster, Drive topology, Kinematics, Mobile robots",
author = "He Xu and Dawei Tan and Peng, \{Gao Liang\} and Gao, \{X. Z.\} and Shuanghe Yu",
year = "2008",
doi = "10.1007/978-3-540-88513-9\_88",
language = "英语",
isbn = "3540885129",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
number = "PART 1",
pages = "814--823",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
address = "德国",
edition = "PART 1",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}