Mobile differential robot

Mobile platform with two active wheels and one orientable wheel

This Platform is a omnidirectional and nonholonomic robot

This platform is also known Unicycle-type of wheeled mobile robot with two independently driven wheels in a common axis and one or more passive/castor wheels. It is a highly nonlinear robot especially in the nonholonomic constraints.

The differential platform can be constructed in multiple mode of configuration. As example: the active wheels can be adapted to be on the rear/front with self-orientable wheel; and/or also motorized like a car with active rear/front wheels with one/two active orientable front/rear steering wheels.

Countries & Year

Colombia - 2020

Authors

Hernando Leon-Rodriguez