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Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels...
In this paper, a wheel/track mobil platform for robot search and rescue such dangerous tasks is designed. Through the wheel/track transform mechanism, the wheel and track motion modes can be switched alternatively to adapt to different ground situations. The friction between the belt wheel and hub is used to drive the track and its guide wheel is the one of the transform mechanism. When the guide...
Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the...
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