Stability and Traction Optimization of a Reconfigurable Wheel-Legged Robot
نویسندگان
چکیده
منابع مشابه
Stability and traction optimization of reconfigurable
Actively articulated locomotion systems such as hybrid wheel-legged vehicles are a possible way to enhance the locomotion performance of autonomous mobile robot. In this paper, we address the control of the wheel-legged robot Hylos evolving on irregular sloping terrain.The redundancy involved in such system is used to optimize both the balance of traction forces and the tipover stability. The g...
متن کاملStability Control of an Hybrid Wheel-Legged Robot
For exploration missions with autonomous robotic systems, one of the most important goal of any control system is to ensure the vehicle integrity. In this paper, the control scheme of an hybrid wheel-legged robot is presented. This scheme uses artificial potential field for the on-line stability control of the vehicle. First, the principle of this method is outlined and, then, simulation result...
متن کاملDesign and Locomotion Modes of a Small Wheel- Legged Robot
Legged robots have superior terrain adaptability comparing to traditional wheeled vehicles. They also offer attractive capabilities in terms of agility and obstacle avoidance. On the other hand, traditional wheeled platforms provide sufficient robustness, mechanical simplicity and energetic performance. They are fast, powerful in terms of load to weight ratio, stable, and easy to control. Hybri...
متن کاملA Novel Six Wheel-legged Robot: Structure Design and Stability Analysis in Different Typical Gaits
Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. Increasing the operation function of the robot is one of the hottest topics in this field. A novel six wheel-legged robot is designed in the form of leg structure, body structure and the combination between wheels and legs. The DOF of single leg and multi-legged close...
متن کاملDesign and Simulations of Wheel-legged Mobile Robot
The problems of determining dynamic and kinematic parameters of wheel-legged mobile robot were considered in the paper. The numerical computer model of robot was worked out and simulation researches of suspension were completed. The motion of wheel on road with obstacles and walking motion of wheel were analyzed for determining kinematic and dynamic parameters.
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: The International Journal of Robotics Research
سال: 2004
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364904047616