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