Matches in SemOpenAlex for { <https://semopenalex.org/work/W2912341396> ?p ?o ?g. }
Showing items 1 to 59 of
59
with 100 items per page.
- W2912341396 abstract "This paper develops and evaluates in simulation a novel ground mobility concept that employs three independent pods which can be attached to an arbitrary object for movement and positioning. The bulk of this paper is focused on the development of a control strategy for “driving” the target object with attached pods such that good performance is achieved even in the presence of significant wheel slip, that is, in low-friction environments. The approach developed here employs a stage that disburses force commands to individual wheels employing a kinematics-based strategy combined with feedback on pod angle that seeks to align the pods with their directions of motion. This stage is followed by another feedback loop that attempts to achieve the disbursed force commands. A contribution of this paper is the development of a force-based wheel controller that is robust to longitudinal wheel slip. Since the force at the road-tire interface cannot be measured, this controller requires the implementation of a force estimator. The overall mobility concept is demonstrated in simulation with the ultimate conclusion being that the proposed concept appears to be feasible and should be pursued further." @default.
- W2912341396 created "2019-02-21" @default.
- W2912341396 creator A5047065124 @default.
- W2912341396 creator A5050562740 @default.
- W2912341396 date "2018-08-01" @default.
- W2912341396 modified "2023-09-27" @default.
- W2912341396 title "Development of a Multi-Stage Control Strategy for Omnidirectional Mobility in the Presence of Slip" @default.
- W2912341396 cites W1991722338 @default.
- W2912341396 cites W2049331454 @default.
- W2912341396 cites W2053671610 @default.
- W2912341396 cites W2096870480 @default.
- W2912341396 doi "https://doi.org/10.1109/mwscas.2018.8624090" @default.
- W2912341396 hasPublicationYear "2018" @default.
- W2912341396 type Work @default.
- W2912341396 sameAs 2912341396 @default.
- W2912341396 citedByCount "1" @default.
- W2912341396 countsByYear W29123413962022 @default.
- W2912341396 crossrefType "proceedings-article" @default.
- W2912341396 hasAuthorship W2912341396A5047065124 @default.
- W2912341396 hasAuthorship W2912341396A5050562740 @default.
- W2912341396 hasConcept C127313418 @default.
- W2912341396 hasConcept C127413603 @default.
- W2912341396 hasConcept C146357865 @default.
- W2912341396 hasConcept C146978453 @default.
- W2912341396 hasConcept C151730666 @default.
- W2912341396 hasConcept C192562407 @default.
- W2912341396 hasConcept C195268267 @default.
- W2912341396 hasConcept C21822782 @default.
- W2912341396 hasConcept C24027999 @default.
- W2912341396 hasConcept C41008148 @default.
- W2912341396 hasConcept C76155785 @default.
- W2912341396 hasConceptScore W2912341396C127313418 @default.
- W2912341396 hasConceptScore W2912341396C127413603 @default.
- W2912341396 hasConceptScore W2912341396C146357865 @default.
- W2912341396 hasConceptScore W2912341396C146978453 @default.
- W2912341396 hasConceptScore W2912341396C151730666 @default.
- W2912341396 hasConceptScore W2912341396C192562407 @default.
- W2912341396 hasConceptScore W2912341396C195268267 @default.
- W2912341396 hasConceptScore W2912341396C21822782 @default.
- W2912341396 hasConceptScore W2912341396C24027999 @default.
- W2912341396 hasConceptScore W2912341396C41008148 @default.
- W2912341396 hasConceptScore W2912341396C76155785 @default.
- W2912341396 hasLocation W29123413961 @default.
- W2912341396 hasOpenAccess W2912341396 @default.
- W2912341396 hasPrimaryLocation W29123413961 @default.
- W2912341396 hasRelatedWork W1919224288 @default.
- W2912341396 hasRelatedWork W1966555273 @default.
- W2912341396 hasRelatedWork W2020136261 @default.
- W2912341396 hasRelatedWork W2068919279 @default.
- W2912341396 hasRelatedWork W2217324764 @default.
- W2912341396 hasRelatedWork W2316539962 @default.
- W2912341396 hasRelatedWork W2899084033 @default.
- W2912341396 hasRelatedWork W2914681411 @default.
- W2912341396 hasRelatedWork W3152415473 @default.
- W2912341396 hasRelatedWork W4224064640 @default.
- W2912341396 isParatext "false" @default.
- W2912341396 isRetracted "false" @default.
- W2912341396 magId "2912341396" @default.
- W2912341396 workType "article" @default.