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Is kobuki a holonomic robot? [closed]

asked 2014-07-30 02:29:06 -0600

scopus gravatar image

Hi, all, I am writing a local planner for turtelbot2, i.e. kobuki robot. But I am not sure is it a holonomic robot. From the wikipedia) I think kobuki is a holonomic robot, isn't it. Thank you!

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Closed for the following reason the question is answered, right answer was accepted by scopus
close date 2014-07-31 08:01:32.138547

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answered 2014-07-30 03:01:57 -0600

jorge gravatar image

No, it isn't. According to wikipedia, A robot is holonomic if the controllable degrees of freedom are equal to the total degrees of freedom. As a ground robot, the degrees of freedom are 3, the x axis, y axis, and rotation about the origin. But the controllable degrees of freedom are only 2, the linear and angular velocities.

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I agree, it is not.

tonybaltovski gravatar imagetonybaltovski ( 2014-07-30 17:42:25 -0600 )edit

Thank you very much!

scopus gravatar imagescopus ( 2014-07-31 08:01:16 -0600 )edit

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Asked: 2014-07-30 02:29:06 -0600

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Last updated: Jul 30 '14