2. General shape of mobile robotics models

Modeling is an important element in robotics. In addition to optimizing the design, it is above all used to develop a control model for the robot. Physical modeling remains dominant in mechanical and electronic engineering, but other approaches still at the research stage, such as neural network learning, are emerging alternatives .

A robot is a multi-body kinematic system made up of solids that are generally assumed to be rigid. Ground robots have frictional contact with the ground on which they move. Ground adhesion is important for creating traction and changing the direction of motion.

The assumption of slip-free rolling...