Book Chapter: Chapter 13

Wheeled Mobile Robots

Chapter 13 Autoplay

Autoplay of the YouTube playlist for all videos in this chapter.  This description box will not be updated with information about each video as the videos advance.

13.1. Wheeled Mobile Robots

This video introduces Chapter 13 of “Modern Robotics” on wheeled mobile robots. This chapter covers kinematic modeling of omnidirectional and nonholonomic wheeled robots, motion planning for nonholonomic robots, feedback control, odometry, and mobile manipulation: feedback control of the end-effector of a mobile robot equipped with a robot arm.

13.3.2. Controllability of Wheeled Mobile Robots (Part 4 of 4)

This video introduces the Lie Algebra Rank Condition, a test of the iterated Lie brackets of the control vector fields of a nonlinear control system, and its use in establishing small-time local accessibility and small-time local controllability. The LARC is applied to example nonholonomic mobile robots.

13.4. Odometry

This video introduces odometry for omnidirectional and nonholonomic wheeled mobile robots: estimating the motion of the robot’s chassis from the wheel motions.

13.5. Mobile Manipulation

This video describes mobile manipulation: feedback control of the end-effector of a mobile robot equipped with a robot arm.