학술논문
Decoupled control of the high mobility robot Hylos based on a dynamic stability margin
Document Type
Conference
Author
Source
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. :2435-2440 Sep, 2008
Subject
Language
ISSN
2153-0858
2153-0866
2153-0866
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.