Authors
G Besseron, Ch Grand, F Ben Amar, Ph Bidaud
Publication date
2008/9/22
Conference
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Pages
2435-2440
Publisher
IEEE
Description
This paper concerns the control of an autonomous high mobility wheel-legged rover crossing uneven terrains. A new control strategy, using active redundancies of the robot, leads to elaborate a posture control based on the potential field approach of the stability measurement. Then a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, simulation results showing performance of the control algorithm are presented.
Total citations
Scholar articles
G Besseron, C Grand, FB Amar, P Bidaud - 2008 IEEE/RSJ International Conference on Intelligent …, 2008