Christoph Stöger — accepted AI-conference papers

2021

The Virtual Wheel Concept for the Singularity-Free Kinematics and Dynamics Modeling and Control of Pseudo-Omnidirectional Vehicles

Christoph Stöger, Hubert Gattringer, Andreas Müller

RA-L 2021

Pseudo-omnidirectional vehicles (POV) are equipped with several center steered and driven standard wheels, and exhibit high maneuverability and positioning accuracy. Yet this class of mobile systems is rarely considered. Despite their simple setup, the mathematical modeling is challenging. Moreover

Cited by 3 Source ↗Scholar ↗

2015

Kinematic analysis and singularity robust path control of a non-holonomic mobile platform with several steerable driving wheels

Christoph Stöger, Andreas Müller, Hubert Gattringer

IROS 2015poster

The use of more than one steerable (standard) driving wheel allows a robot to perform omnidirectional motions. However, the modeling and control of such robots is challenging since the system is non-holonomic, nonlinear and typically over actuated. Moreover, such platforms exhibit kinematic singular…

Cited by 21 Source ↗Scholar ↗