DocumentCode
3096867
Title
Decoupled control of the high mobility robot Hylos based on a dynamic stability margin
Author
Besseron, G. ; Grand, Ch ; Ben Amar, F. ; Bidaud, Ph
Author_Institution
Inst. des Syst. Intelligents et de Robot., Univ. Pierre&Marie Curie/CNRS, Paris
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
2435
Lastpage
2440
Abstract
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.
Keywords
mobile robots; position control; stability; decoupled control; dynamic stability margin; high mobility robot Hylos; posture control; robot active redundancies; stability measurement; trajectory control algorithm; wheel-legged rover; Leg; Mobile robots; Robots; Stability analysis; Stability criteria; Trajectory; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4651092
Filename
4651092
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