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.
Domains
Automatic
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