Please use this identifier to cite or link to this item: https://doi.org/10.1109/AIM.2008.4601792
Title: Slip modelling, detection and control for redundantly actuated wheeled mobile robots
Authors: Li, Y.P.
Ang Jr., M.H. 
Lin, W.
Issue Date: 2008
Source: Li, Y.P.,Ang Jr., M.H.,Lin, W. (2008). Slip modelling, detection and control for redundantly actuated wheeled mobile robots. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM : 967-972. ScholarBank@NUS Repository. https://doi.org/10.1109/AIM.2008.4601792
Abstract: This paper presents a comprehensive methodology (modelling, detection, and control) for tackling slip problems in redundantly actuated wheeled mobile robots. A new concept, "slip velocity", is introduced for the purpose of enlarging the robots' kinematic model by including slip modelling. Our simple and yet effective slip detection scheme is based on the sensing redundancy of the system. The slip control scheme is based on the relationship between slip velocity and its associated constraint force. The effectiveness of the proposed slip detection and slip control schemes is demonstrated with experimental results. For the first time, experimental results of a force controlled wheeled mobile robot with the proposed schemes implemented is presented. The proposed schemes can be applied to both mobile robots and mobile manipulation systems. © 2008 IEEE.
Source Title: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
URI: http://scholarbank.nus.edu.sg/handle/10635/73867
ISBN: 9781424424955
DOI: 10.1109/AIM.2008.4601792
Appears in Collections:Staff Publications

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