@inproceedings{edb6357420d846529b3cf064a3f5b1ee,
title = "Extraction of motion for 4-wheel drive, 4-wheel steer mobile robot with reduced order Hamiltonian model",
abstract = "In this study, spatial algebra approach is applied to energy based model reduction for the class of nonholonomic systems. Having defined the nonholonomic constraints by means of spatial velocities, we introduce the Lagrangian model. Then, this model is transformed into Hamiltonian formulation using Legendre transformation. Momentum terms in Hamiltonian formulation is divided into two parts one of which is due to workless spatial forces in the system and, therefore, can be eliminated to reduce the order of the model. This formulation was developed successfully here for four-wheel drive \& four-wheel steer mobile robot.",
keywords = "Nonholonomic systems, Reduced order hamiltonian systems",
author = "Yal{\c c}in, \{M. K{\"u}r{\c s}at\} and Ye{\c s}iloǧlu, \{S. Murat\} and Hakan Temelta{\c s}",
year = "2007",
doi = "10.3182/20070822-3-za-2920.00155",
language = "English",
isbn = "9783902661289",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "PART 1",
pages = "934--939",
booktitle = "Final Program and Book of Abstracts - NOLCOS 2007",
edition = "PART 1",
}