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Changing the initial configuration of the robot parts produced a different design and a different approach to locomotion.
Configuration of the robot while holding the object.
The shearing resistance is obtained from the rotation radius, angular displacement, and configuration of the robot.
We discuss the existence and the stability of an equilibrium configuration of the robot when tracking a circular reference line.
A further avenue of future research includes the use of the rolling configuration of the robot to improve its speed in traversing the environment.
In other words, the computed configuration of the robot may not be accurate when the inverse kinematics presented in [4] is used directly.
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Due to the differential wheels configuration of the robots, for each velocity vector sent to them, we first rotated to agree robot's orientation with the velocity vector and, after, translate with vector modulus.
As discussed above, the path is composed of a series of configurations of the robot.
The deflected shapes for different configurations of the robot are shown in Fig. 8.
The robot workspace is partitioned into subspaces based on the singular configurations of the robot.
However, designing of recovery motion is difficult because the recovery motion depends on the environments and configurations of the robot.
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