Towards an advanced mobility of wheeled robots evolving on difficult terrain
نویسندگان
چکیده
The paper addresses the problem of mobility of wheeled locomotion on loose and/or rough soils. We study many solutions for improving traction and clearing performances of wheeled systems. The paper focus on (1) traction control of the rolling mode based on a torque limitation (2) traction performance using the crawling mode (or peristalsis mode) and (3) the stability control based on suspension reconfiguration. Theses works are illustrated through experiments on articulated wheeled robot which are a Marsokhod robot and an hybrid wheeled-legged robot.
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تاریخ انتشار 2007