Designing for uniform mobility using holonomicity

John Tighe Costa; Mark Yim

ICRA 2017poster11 citations

Designing for uniform mobility using holonomicity

Abstract

Holonomic systems are often complex and expensive with poor terrain handling capabilities. This paper introduces HAMR, a platform that is simple and low-cost with good terrain handling capabilities which was designed using a new method for characterizing mobility. A mobility ellipsoid (analogous to a manipulability ellipsoid) is introduced as a design tool. A metric called holonomicity measures the extent to which a vehicle can move equally in all directions. The holonomicity of HAMR is measured experimentally. It is shown that non-holonomic vehicles can have relatively high holonomicity as well.

BibTeX

@inproceedings{icra2017_designingforunif,
  title = {Designing for uniform mobility using holonomicity},
  author = {John Tighe Costa and Mark Yim},
  booktitle = {ICRA 2017},
  year = {2017}
}