Douadi, LounisSpinello, DavideGueaieb, Wail2015-05-252015-05-252014-092014-09http://hdl.handle.net/10393/32411http://dx.doi.org/10.1115/1.4027303In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model by addressing a path following problem inside a pipe. The dynamic model presented in this paper is the basis for the design of motion control algorithms that encode energy optimization and sensor performance maximization.Article10.1115/1.4027303