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STABILITY CONTROL OF A HYBRID WHEEL-LEGGED ROBOT USING THE POTENTIAL FIELD APPROACH
2008
Advances in Mobile Robotics
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This strategy needed to set up a decoupled control of posture and trajectory. An original velocity based control algorithm has been presented. ...
The proposed controller is based on the technique of "potential fields" for which artificial potential reflecting the rover tipover stability margin is used. ...
doi:10.1142/9789812835772_0094
fatcat:k3uvdch2svfvzlo3lebj67qoza
Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
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Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. ...
Last, the performance and feasibility of the control algorithm are evaluated through simulations and experiments with the Hylos robot. 1 the number of actuated degrees of freedom is greater than the dimension ...
They address the tipover stability in the case of the SRR robot that possesses two internal mobilities. ...
doi:10.1109/robot.2004.1302528
dblp:conf/icra/GrandAPB04
fatcat:keh7esazv5cr3gnczzbu6moqtu
Motion kinematics analysis of wheeled–legged rover over 3D surface with posture adaptation
2010
Mechanism and Machine Theory
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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
Evolution and development of neural controllers for locomotion, gradient-following, and obstacle-avoidance in artificial insects
1998
IEEE Transactions on Neural Networks
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Barate R, Doncieux S, and Meyer J-A 2006 Design of a bio-inspired controller for dynamic soaring in a simulated UAV. ...
Finally, the robustness properties of the generated controller were assessed with a view to its applicability to a real platform. ...
Acknowledgement The authors thank T. Druot for helpfull advice on using and improving the FMFAW flight simulator. ...
doi:10.1109/72.712153
pmid:18255767
fatcat:iy4zjzgcjzc6pmwoqp3c5xpfga
Autonomous Locomotion Mode Transition of Ground Hybrid Robots
[article]
2017
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To achieve this goal, simplified dynamic modeling methods for the rolling and walking locomotion modes of wheel/track-legged hybrid robots are developed, a novel energy based criterion is proposed to evaluate ...
It's first proposed based on the energy performance knowledge of the simplified rolling and walking locomotion evaluations of ground hybrid robots. ...
always loss partial stability margin of the system. ...
doi:10.11575/prism/25085
fatcat:vimyps2jjbaj3b3m7xr45fkz2u