Kinematic motion model for jumping scout robots

Sascha A. Stoeter; Nikolaos Papanikolopoulos

doi:10.1109/TRO.2006.862483

Kinematic motion model for jumping scout robots

Sascha A. Stoeter, Nikolaos Papanikolopoulos

Computer Science and Engineering

Research output: Contribution to journal › Article › peer-review

58 Scopus citations

Abstract

The University of Minnesota's Scout is a small cylindrical robot capable of rolling and jumping. Models describing the robot's motion are developed. These models can be employed for motion prediction and simulation. The results suggest that the determining factor of the Scout's behavior is the length of the winch cable.

Original language	English (US)
Pages (from-to)	397-402
Number of pages	6
Journal	IEEE Transactions on Robotics
Volume	22
Issue number	2
DOIs	https://doi.org/10.1109/TRO.2006.862483
State	Published - Apr 2006

Bibliographical note

Funding Information:
Manuscript received February 25, 2005; revised September 23, 2005. This paper was recommended for publication by Associate Editor L. Whitcomb and Editor F. Park upon evaluation of the reviewers’ comments. This work was supported in part by Microsoft Corporation, in part by the National Science Foundation under Grants CNS-0224363 and CNS-0324864, and in part by the Defense Advanced Research Projects Agency (DARPA), Microsystems Technology Office (Distributed Robotics), ARPA Order G155, Program Code 8H20, issued by DARPA/CMD under Contract #MDA972-98-C-0008. This paper was presented in part at the IEEE International Conference on Robotics and AutomationTaipei, Taiwan, R.O.C.September2003.

Keywords

Jumping
Miniature robotics
Mobile robot kinematics
Rolling

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Kinematic motion model for jumping scout robots

Abstract

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Keywords

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