DocumentCode
3035453
Title
Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos
Author
Grand, Ch. ; BenAmar, F. ; Plumet, F. ; Bidaud, Ph.
Author_Institution
Laboratoire de Robotique de Paris
Volume
5
fYear
2004
fDate
April 26 2004-May 1 2004
Firstpage
5111
Lastpage
5116
Abstract
This paper addresses the control of a hybrid wheel-legged system evolving on rough terrain. First, the posture and trajectory parameters are introduced. Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, the performance and feasibility of the control algorithm are evaluated through simulations and experiments with the Hylos robot.
Keywords
Control systems; Energy consumption; Hazardous areas; Kinematics; Legged locomotion; Mobile robots; Robot control; Stability; Vehicles; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Conference_Location
New Orleans, LA, USA
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1302528
Filename
1302528
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