Decoupled control of the high mobility robot hylos based on a dynamic stability margin - Archive ouverte HAL Access content directly
Conference Papers Year : 2008

Decoupled control of the high mobility robot hylos based on a dynamic stability margin

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.

Domains

Automatic
Fichier principal
Vignette du fichier
2008_IROS_Article_Final_Guillaume_Besseron.pdf (468.34 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-03177941 , version 1 (24-03-2021)

Identifiers

Cite

Guillaume Besseron, Christophe Grand, Faïz Ben Amar, Philippe Bidaud. Decoupled control of the high mobility robot hylos based on a dynamic stability margin. IROS'08 : the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2008, Nice, France. pp.2435-2440, ⟨10.1109/IROS.2008.4651092⟩. ⟨hal-03177941⟩
34 View
143 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More