SOURCE-LINKED INTELLIGENCE

Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle motion when contact points undergo slip. For articulated vehicles, the point-contact kinematic model (PCK) accounts for the linkage geometry but neglects the rotational resistance distributed along the contacts. We propose a finite-support quadratic model (FSQ) for single-track, center-articulated vehicles that incorporates this resistance through a quasi-static balance of lateral slip. Our approach generalizes the standard PCK formulation by relaxing the contact-point assumption. An

Read original source ↗ Open in workspace

recordType

paper

region

Global