Essays about: "Jon Arrizabalaga Aguirregomezcorta"
Found 1 essay containing the words Jon Arrizabalaga Aguirregomezcorta.
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1. MPC based Caster Wheel Aware Motion Planning for Differential Drive Robots
University essay from KTH/MekatronikAbstract : The inherited rotation in a caster wheel allows movement in any direction, but pays at the expense of reaction torques. When implemented in a mobile robot, these forces have a negative impact in its performance. One approach is to restrict rotations on the spot by attaching a filter to the output of the motion planner. READ MORE
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