Name
Title | ||
|---|---|---|
An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO |
Abstract | ||
|---|---|---|
This work deals with the kinematic control of Centauro, a highly redundant, hybrid wheeled-legged robot designed at Istituto Italiano di Tecnologia (IIT). Given its full wheeled mobility as allowed by its four independently steerable wheels, the choice of some local frame (in addition to the global world) is required in order to express tasks that are naturally defined in a robot-centric fashion. ... |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/LRA.2019.2961846 | IEEE Robotics and Automation Letters |
Keywords | DocType | Volume |
Task analysis,Mobile robots,Kinematics,Wheels,Robot kinematics,Jacobian matrices | Journal | 5 |
Issue | ISSN | Citations |
2 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Arturo Laurenzi | 1 | 24 | 9.04 |
| Enrico Mingo Hoffman | 2 | 54 | 13.32 |
| Matteo Parigi Polverini | 3 | 15 | 5.11 |
| NG Tsagarakis | 4 | 1492 | 159.09 |