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Conference Papers Year : 2008

Stability control of a hybrid wheel-legged robot using potential field approach

Abstract

This paper concerns the control of an autonomous high mobility wheel-legged rover evolving on 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.

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Dates and versions

hal-03177939 , version 1 (29-03-2021)

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  • HAL Id : hal-03177939 , version 1

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Guillaume Besseron, Christophe Grand, Faïz Ben Amar, Philippe Bidaud. Stability control of a hybrid wheel-legged robot using potential field approach. Clawar'08: 11th International Conerence. on Climbing and Walking Robots, 2008, Coimbra, Portugal. pp.776-783. ⟨hal-03177939⟩
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