Control of A Four-Steering, Four-Forked Snake-Like Robot
نویسندگان
چکیده
منابع مشابه
Cross-Coupling Control for Slippage Minimization of a Four-Wheel-Steering Mobile Robot
The paper presents a cross-coupling controller for a four-wheel steering mobile robot with independently actuated steering and driving of each wheel. The aim of the controller is to minimize slippage during transient states of the vehicle control. Linear approximation of the criterion for no slippage is adopted for the design of the LQR-based cross-coupling controller of steering actuators. Dri...
متن کاملSystem Design, Modelling, and Control of a Four-Wheel-Steering Mobile Robot
This paper describes a dynamic model and crosscoupling control of a mobile robot with four independently steered and driven wheels. The dynamic model incorporates the components of the wheel mechanisms, backlash effects of the wheel actuators and nonlinear forces produced by the tire-ground interaction. The problem of computationally efficient control of the vehicle is solved using a low-level ...
متن کاملFour Wheel Steering
What are the differences between two wheel steering and four wheel steering? The aim of this project is to compare these two in terms of advantages gained from four wheel steering. A simulation is conducted on ADAMS Cars platform based on the RCV (Research Concept Vehicle) model, developed at KTH in Stockholm. Sammanfattning Vad är skillnaden mellan tvåhjulsstyrning och fyrhjulsstyrning? Syftet...
متن کاملA CPG-based Control Architecture for 3D Locomotion of a snake-like robot A CPG-based Control Architecture for 3D Locomotion of a snake-like robot
In this paper, a biologically inspired control architecture for a snake-like robot is proposed to achieve 3D locomotion and realize continuously free gait transition. Based on a novel central pattern generator(CPG) model, which is achieved from the perspective of network synchronization, the control architecture integrates three functional parts. First, following the convergence behavior of the...
متن کاملInvestigations in the Control of a Four-rotor Aerial Robot
This paper presents the challenges and successes of developing several control architectures on a custom designed quadcopter. In order to achieve this goal, it was necessary to use parameter identification to create a model of the kinematic equations, simulate the model with several control architectures in MATLAB/Simulink and finally test the algorithm on the actual hardware. The results of th...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2006
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.72.879