MobileRobotLocomotion.pptVIP

Mobile Robot Locomotion Prof. Jizhong Xiao Department of Electrical Engineering City College of New York jxiao@ccny.cuny.edu Introduction What is a robot? Types of robot Classification of wheels Fixed wheel Centered orientable wheel Off-centered orientable wheel Swedish wheel Mobile Robot Locomotion Differential Drive Tricycle Synchronous Drive Omni-directional Ackerman Steering Kinematics models of WMR Summary What is a robot? There’s no precise definition, but by general agreement, Robots — machines with sensing, intelligence and mobility. To be qualified as a robot, a machine has to be abl