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This paper develops a new quasi-static modeling framework for tracked robotsbased on the power dissipation method. Given a set of track speeds, this methodpredicts the vehicle's instantaneous rigid body motion. We introduce threespecific models: a model for tracked operation on flat ground, a model forvehicle motion when the track's grouser tips touch the ground, and a model foroperation on stairs. Experiments show that these models predict tracked vehiclemotion more accurately than existing kinematic models, and predict phenomenawhich are not captured by other models. These novel models provide a basis fornew feedback control approaches.

The Kinematics of Tracked Vehicles via the Power Dissipation Method