{"id":3381,"date":"2012-04-19T01:45:50","date_gmt":"2012-04-19T08:45:50","guid":{"rendered":"http:\/\/www.iearobotics.com\/blog\/?p=3381"},"modified":"2013-02-03T02:56:37","modified_gmt":"2013-02-03T09:56:37","slug":"motion-control-of-differential-wheeled-robots-with-joint-limit-constraints","status":"publish","type":"post","link":"http:\/\/www.iearobotics.com\/blog\/2012\/04\/19\/motion-control-of-differential-wheeled-robots-with-joint-limit-constraints\/","title":{"rendered":"Motion Control of Differential Wheeled Robots with Joint Limit Constraints"},"content":{"rendered":"<p><a href=\"http:\/\/www.iearobotics.com\/blog\/wp-content\/uploads\/2012\/04\/Miniskybot-limited-wheels.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.iearobotics.com\/blog\/wp-content\/uploads\/2012\/04\/Miniskybot-limited-wheels.png\" alt=\"\" title=\"Miniskybot-limited-wheels\" width=\"500\" height=\"255\" class=\"aligncenter size-full wp-image-3382\" srcset=\"http:\/\/www.iearobotics.com\/blog\/wp-content\/uploads\/2012\/04\/Miniskybot-limited-wheels.png 500w, http:\/\/www.iearobotics.com\/blog\/wp-content\/uploads\/2012\/04\/Miniskybot-limited-wheels-300x153.png 300w\" sizes=\"auto, (max-width: 500px) 85vw, 500px\" \/><\/a><\/p>\n<p>At last I have published the information of the paper &#8220;<a href=\"Motion Control of Differential Wheeled Robots with Joint Limit Constraints\">Motion Control of Differential Wheeled Robots with Joint Limit Constraints<\/a>&#8221; and the slides for the presentation at the ROBIO 2011 conference:<\/p>\n<div style=\"width:425px\" id=\"__ss_12588226\"> <iframe loading=\"lazy\" src=\"http:\/\/www.slideshare.net\/slideshow\/embed_code\/12588226\" width=\"425\" height=\"355\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe> <\/div>\n<p>Here there is a video of the locomotion of a variation of the <a href=\"http:\/\/www.iearobotics.com\/wiki\/index.php?title=Paper:2011-Amire-Miniskybot\">Miniskybot<\/a> printbot with limited wheels. Even if the wheels cannot turn freely, the robot can achieve locomotion:<\/p>\n<p>[youtube]http:\/\/www.youtube.com\/watch?v=3nAc_X74s8g[\/youtube]<\/p>\n<p>It opens the door to new research lines such as fault-tolerant motion in mobile robots, locomotion with non-standard rounded wheels, bioinspired controllers for limited wheels and fault-tolerant path planning.<\/p>\n<p><a href=\"http:\/\/www.iearobotics.com\/wiki\/index.php?title=Juan_Gonzalez:Main\">Obijuan<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>At last I have published the information of the paper &#8220;Motion Control of Differential Wheeled Robots with Joint Limit Constraints&#8221; and the slides for the presentation at the ROBIO 2011 conference: Here there is a video of the locomotion of a variation of the Miniskybot printbot with limited wheels. Even if the wheels cannot turn &hellip; <a href=\"http:\/\/www.iearobotics.com\/blog\/2012\/04\/19\/motion-control-of-differential-wheeled-robots-with-joint-limit-constraints\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Motion Control of Differential Wheeled Robots with Joint Limit Constraints&#8221;<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[19,5],"tags":[],"class_list":["post-3381","post","type-post","status-publish","format-standard","hentry","category-printbots","category-robotica"],"_links":{"self":[{"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/posts\/3381","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/comments?post=3381"}],"version-history":[{"count":10,"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/posts\/3381\/revisions"}],"predecessor-version":[{"id":3820,"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/posts\/3381\/revisions\/3820"}],"wp:attachment":[{"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/media?parent=3381"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/categories?post=3381"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.iearobotics.com\/blog\/wp-json\/wp\/v2\/tags?post=3381"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}