A kinematic modeling method is proposed which models the sliding and skidding at the wheels as pseudo joints and utilizes those pseudo joint variables as augmented variables. Kinematic models of various type of wheels are derived based on this modeling method. Then, the transfer method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models of mobile robots. The kinematic models of five different types of planar mobile robots are derided to show the effectiveness of the proposed modeling method.