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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.

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

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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⟩
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