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This paper investigates the modelling and control of step traversal using a two-wheeled robot (TWR). The traversal of TWRs over steps and other uneven terrain requires large platform tilt angles to adjust the centre of mass. This process is highly nonlinear, which complicates the controller design process. An auxiliary reaction wheel actuator is used in a novel way to facilitate step traversal. A...
This paper presents the application of Inverse Simulation to the control of a mobile robot. The implementation of this technique for motion control has been found to provide highly accurate trajectory tracking. Since the input to the Inverse Simulation is a time history of the desired response, then greater control over the position and orientation of the mobile robot can be achieved. There are many...
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