Wheel rolling constraints and slip in mobile robots - simulation results

Shashank Shekhar

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations


Previously, we established that wheel slip is inevitable under the dynamic model of motion using classical results on the accessibility and controllability in nonlinear control theory and an analytical model of rolling of two linearly elastic bodies. In this paper, we present simulation results on the magnitude of such slip based on Kalker's Simplified Linear Theory of the traction forces at the wheel-ground interface.

Original languageEnglish
Pages (from-to)542-546
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1 Jan 1997
EventProceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA
Duration: 4 Jun 19976 Jun 1997

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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