Chapter 24 — Wheeled Robots

Articulated robot - A robot pushing 3 passive trailers

An omnidirectional robot pushes three passive trailers along a straight reference trajectory. There are no actuators in the modular passive trailers, and the trailers are connected through free joints. The backward-motion controller of the robot perceives the pose of the last trailer and the joint angles between trailers. Thus, one active robot can control an arbitrary number of trailers.
Woojin Chung
This work was supported in part by the Korea University and the Korea Institute of Science and Technology (KIST), Korea.
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