Design and Steering Control of a Center-Articulated Mobile Robot Module

<table>The changes in <svg height="7.1750002" id="M164" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 8.9375 7.1750002" width="8.9375" xmlns="http://www.w3.org/2000/svg">
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<g transform="translate(72,-66.26)">
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<tspan style="font-size: 12.50px; " x="0" y="0">𝛼</tspan>
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</svg>, <svg height="13.425" id="M165" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 8.8500004 13.425" width="8.8500004" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,13.425)">
<g transform="translate(72,-61.26)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝛽</tspan>
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</svg>, and the control signals for the second experiment.</table>

Journal of Robotics

fig15

Figure 15

Figure 15: Design and Steering Control of a Center-Articulated Mobile Robot Module 