2026-06-17T00:46:48Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/360762026-02-03T11:58:17Zcom_10630_2254col_10630_37959

Martínez-Rodríguez, Jorge Luis Morales-Rodríguez, Jesús Sánchez, Manuel García-Cerezo, Alfonso José 2025-01-09T12:47:09Z 2025-01-09T12:47:09Z 2024 J. L. Martínez, J. Morales, M. Sánchez and A. García-Cerezo, "ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 1322-1328, doi: 10.1109/IROS58592.2024.10801776. https://hdl.handle.net/10630/36076 10.1109/IROS58592.2024.10801776 This paper proposes a new kinematic model for wheeled skid-steer vehicles moving with low inertia on firm slopes that is based on the variation of the Instantaneous Center of Rotation (ICR) of its lateral treads. To this end, the ICR- based model for horizontal surfaces, where constant tread ICRs were considered, has been extended with two additional parameters to account for the sliding down phenomenon on inclined terrains that the former is unable to predict. The current pitch and roll angles of the vehicle together with the speeds of the treads are employed to calculate the changing positions of tread ICRs during turnings. This kinematic approach shows promising results when applied to the heavy robotic rover J8 on a slanted surface of smooth concrete. eng open access Cinemática Vehículos autónomos Mecánica ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes. conference output