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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  
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

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.  ...  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

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

Evolution and development of neural controllers for locomotion, gradient-following, and obstacle-avoidance in artificial insects

J. Kodjabachian, J.-A. Meyer
1998 IEEE Transactions on Neural Networks  
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]

Jie Wang, University Of Calgary, University Of Calgary, Alejandro Ramirez-Serrano
2017
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