Differentially flat trajectory generation for a dynamically stable mobile robot
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4467 - 4472, May, 2013
Abstract
This work presents a method to find analytic and feasible trajectories for underactuated, balancing robots. The target application is fast computation of achievable trajectories for the ballbot, a dynamically stable mobile robot which balances on a single spherical wheel. To this end, assumptions are made to form the system as differentially flat, and a method of deriving feasible trajectories is shown. These trajectories are tracked on the real robot, demonstrating both point to point motions and recovery from nonzero initial conditions.
BibTeX
@conference{Shomin-2013-122040,author = {Michael Shomin and Ralph Hollis},
title = {Differentially flat trajectory generation for a dynamically stable mobile robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2013},
month = {May},
pages = {4467 - 4472},
}
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