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This study was conducted using a four-wheel-steering and four-wheel-driving mobile robot equipped with a binocular visual system. First, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain. Secondly, to make the best of the rest of the driving force, robot configuration transformation is employed to select the optimal configuration that can overcome the driving failure. Thirdly, sliding mode control based on back-stepping is adopted to enable the robot achieve continuous trajectory tracking with visual feedback. Finally, the efficacy of the presented approach is verified by simulations and experiments.<\/jats:p>","DOI":"10.1017\/s0263574716000606","type":"journal-article","created":{"date-parts":[[2016,8,31]],"date-time":"2016-08-31T17:40:10Z","timestamp":1472665210000},"page":"2076-2096","source":"Crossref","is-referenced-by-count":1,"title":["Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain"],"prefix":"10.1017","volume":"35","author":[{"given":"He","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"X. 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Wang . \u201cMulti-Model Back-Stepping Sliding Mode Control of Robotic Manipulators,\u201d Proceedings of the Chinese Control and Decision Conference, Changsha, China, (May 31\u2013June 2, 2014), pp. 524\u2013529.","key":"S0263574716000606_ref27","DOI":"10.1109\/CCDC.2014.6852204"},{"doi-asserted-by":"publisher","key":"S0263574716000606_ref25","DOI":"10.1007\/s11771-015-2512-z"},{"key":"S0263574716000606_ref2","first-page":"322","article-title":"On the dynamic tip-over stability of wheeled mobile manipulators","volume":"22","author":"Moosavian","year":"2007","journal-title":"Int. J. Robot. Autom."},{"unstructured":"P. S. Schenker , P. Pirjanian , J. Balaram , K. S. Ali , A. Trebi-Ollennu , T. L. Huntsberger , H. Aghazarian , B. A. Kennedy , E. T. Baumgartner , K. D. Iagnemma , A. Rzepniewski , S. Dubowsky , P. C. Leger , D. Apostolopoulos and G. T. McKee , \u201cReconfigurable Robots for All Terrain Exploration,\u201d Proceedings of SPIE - The International Society for Optical Engineering, Bellingham, Wash., USA, October 16, 4196, (2000) pp. 454\u2013468.","key":"S0263574716000606_ref15"},{"doi-asserted-by":"publisher","key":"S0263574716000606_ref24","DOI":"10.1017\/S0263574714000289"},{"doi-asserted-by":"publisher","key":"S0263574716000606_ref23","DOI":"10.1177\/0278364904047392"},{"doi-asserted-by":"publisher","key":"S0263574716000606_ref14","DOI":"10.1023\/A:1022271301244"},{"doi-asserted-by":"publisher","key":"S0263574716000606_ref13","DOI":"10.1080\/01691864.2012.690191"},{"doi-asserted-by":"crossref","unstructured":"H. Xu , B. S. Marie and R. 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Chatila , \u201cModeling Robot-Soil Interaction for Planetary Rover Motion Control,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Victoria, BC, October 13\u201317, 1, (1998) pp. 576\u2013581.","key":"S0263574716000606_ref10"},{"doi-asserted-by":"publisher","key":"S0263574716000606_ref22","DOI":"10.1109\/TRO.2013.2291615"},{"doi-asserted-by":"crossref","unstructured":"I. A. D. Nesnas , P. Abad-Manterola , J. A. Edlund and J. W. Burdick , \u201cAxel Mobility Platform for Steep Terrain Excursions and Sampling on Planetary Surfaces,\u201d IEEE Aerospace Conference, Big Sky, MT, (March 1\u20138, 2008) pp. 1\u201311.","key":"S0263574716000606_ref16","DOI":"10.1109\/AERO.2008.4526235"},{"doi-asserted-by":"publisher","key":"S0263574716000606_ref18","DOI":"10.1109\/TSMCA.2003.817398"},{"unstructured":"Y. L. Fu , H. Xu , S. G. Wang and L. 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