Traction Control for a Rocker-Bogie Robot with Wheel-Ground Contact Angle Estimation

  • Mongkol Thianwiboon
  • Viboon Sangveraphunsiri
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)


A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize wheel slip. Finally, a simulation of a small robot using rocker-bogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and travel over a ditch.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    JPL Mars Pathfinder (February 2003), available from:
  2. 2.
    Reister, D.B., Unseren, M.A.: Position and Constraint force Control of a Vehicle with Two or More Steerable Drive Wheels. IEEE Transaction on Robotics and Automation 9, 723–731 (1993)CrossRefGoogle Scholar
  3. 3.
    Sreenivasan, S., Wilcox, B.: Stability and Traction control of an Actively Actuated Micro-Rover. Journal of Robotic Systems (1994)Google Scholar
  4. 4.
    Hacot, H.: Analysis and Traction Control of a Rocker-Bogie Planetary Rover, M.S. Thesis, Massachusetts Institute of Technology, Cambridge, MA (1998)Google Scholar
  5. 5.
    Iagnemma, K., Dubowsky, S.: Mobile Robot Rough-Terrain Control (RTC) for Planetary Exploration. In: Proceedings of the 26th ASME Biennial Mechanisms and Robotics Conference, Baltimore, Maryland (2000)Google Scholar
  6. 6.
    Yoshida, K., Hamano, H.: Motion Dynamics of a Rover with Slip-Based Traction Model. In: Proceeding of 2002 IEEE International Conference on Robotics and Automation (2002)Google Scholar
  7. 7.
    Craig, J.J.: Introduction to Robotics Mechanics and Control, 2nd edn. Addison-Wesley Publishing Company, Reading (1989)zbMATHGoogle Scholar
  8. 8.
    Thianwiboon, M., Sangveraphunsiri, V., Chancharoen, R.: Rocker-Bogie Suspension Performance. In: Proceeding of the 11th International Pacific Conference on Automotive Engineering (2001)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Mongkol Thianwiboon
    • 1
  • Viboon Sangveraphunsiri
    • 1
  1. 1.Robotics and Automation Laboratory, Department of Mechanical Engineering, Faculty of EngineeringChulalongkorn UniversityBangkokThailand

Personalised recommendations