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Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos

Ch. Grand, F. BenAmar, F. Plumet, Ph. Bidaud
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed.  ...  This paper addresses the control of a hybrid wheellegged system evolving on rough terrain. First, the posture and trajectory parameters are introduced.  ...  In this paper, we propose a method for the control of both the trajectory and the posture of the wheel-legged robot Hylos (see Fig. 10 ).  ... 
doi:10.1109/robot.2004.1302528 dblp:conf/icra/GrandAPB04 fatcat:keh7esazv5cr3gnczzbu6moqtu

STABILITY CONTROL OF A HYBRID WHEEL-LEGGED ROBOT USING THE POTENTIAL FIELD APPROACH

G. BESSERON, CH. GRAND, F. BEN AMAR, PH. BIDAUD
2008 Advances in Mobile Robotics  
Section 3 presents the formulation used to develop the kinematic model of a hybrid wheellegged robot. Next, decoupled posture and trajectory control algorithm is described in section 4.  ...  High mobility hybrid systems -such as Hylos 1 , Workpartner 2 , or Athlete 3 robots -combine both advantages of wheeled and legged vehicles: the ability to ensure some higher velocity than legged systems  ... 
doi:10.1142/9789812835772_0094 fatcat:k3uvdch2svfvzlo3lebj67qoza

Motion kinematics analysis of wheeled–legged rover over 3D surface with posture adaptation

Christophe Grand, Faiz Benamar, Frédéric Plumet
2010 Mechanism and Machine Theory  
Differential kinematic model is used to control the generalized trajectory of the robot, composed of position and posture parameters.  ...  Numerical simulation and experimental results, carried out on a hybrid wheeledlegged robot, show the validity of the approach presented in this paper.  ...  These models are applied to the motion control of a wheeled-legged rover based on the decoupling of the posture and the trajectory parameters.  ... 
doi:10.1016/j.mechmachtheory.2009.10.007 fatcat:fp35pydnxrazlfeul752u5nz74

Whole-body Motion Tracking for a Quadruped-on-wheel Robot via a Compact-form Controller with Improved Prioritized Optimization

Wenqian Du, Mohamed Fnadi, Faiz Ben Amar
2020 IEEE Robotics and Automation Letters  
The dynamics controller is based on a new hybrid hierarchical and prioritized weighted optimization framework.  ...  Then the prioritized impedance controller is proposed and integrated in our dynamics model, which enables to influence the hierarchical and prioritized weighted tasks in a decoupled way.  ...  Authors in [3] developed a hydraulic actuated leggedon-wheel robot, which has a similar control method as Hylos that computes the inverse kinematics to track the desired base trajectory and optimize  ... 
doi:10.1109/lra.2019.2963822 fatcat:wmkqzi5a5bfzthvn3hzcegxmpm