A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Filters
Kinematic reconfigurability of mobile robots on irregular terrains
2009
2009 IEEE International Conference on Robotics and Automation
Preserved Fulltext
This paper considers the active control problem of reconfigurable mobile robots on irregular terrain. A kinematic control strategy to improve robot mobility (stability and traction) is proposed. ...
The proposed control is validated through numerical simulations and experimental tests using an amphibious wheel-legged robot, named Environmental Hybrid Robot, recently developed by Petrobras S.A. ...
Traction The friction cone optimization was proposed to improve the traction of legged [13] and wheel-legged [19] , [20] , [11] robots. ...
doi:10.1109/robot.2009.5152309
dblp:conf/icra/FreitasLHR09
fatcat:ngwowthbfndldeybf536vceh7q
Kinematic reconfigurability control for an environmental mobile robot operating in the Amazon rain forest
2010
Journal of Field Robotics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Different kinematic control strategies to improve robot mobility are proposed based on (a) ground clearance and orientation, (b) ground clearance and stability margin and (c) wheel traction efficiency. ...
This paper addresses the active control problem of reconfigurable mobile robots on irregular terrain. ...
Wheel Traction Efficiency The friction cone optimization was proposed to improve the traction of legged (Klein and Kittivatcharapong, 1990 ) and wheel-legged (Sreenivasan, 1994; Sreenivasan and Wilcox ...
doi:10.1002/rob.20334
fatcat:jtpgb4yv2rbcnhaf56bnukbq6m
Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover
2002
Unmanned Ground Vehicle Technology IV
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
The design of an innovative reconfigurable mini-rover is presented. Then, a control process that optimize the stability and the global traction performances is developed. ...
A method to identify in-situ the wheel-ground mechanical contact properties is proposed and used to determine an optimal traction torque. ...
Outdoor mobile robots design can be roughly split in two main ways of research: wheeled machines and legged machines. ...
doi:10.1117/12.474461
fatcat:zea65lziubcjpj2yaprvscnk3u
Locomotion Modes of an Hybrid Wheel-Legged Robot
[chapter]
2005
Climbing and Walking Robots
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
The main objective of this paper is to compare and evaluate the performance of several locomotion modes of an hybrid wheel-legged robot. ...
A hierarchical scheme dedicated to the selection and the control of each locomotion mode is also presented. ...
The used criteria are the tipover stability margin and the wheel-ground contact force balance. A suboptimal posture of the robot that optimize the normal component of contact force is defined [6] . ...
doi:10.1007/3-540-29461-9_80
fatcat:w5lhsw4j6rbvxab7xd4uhztxs4
Mobile robot kinematic reconfigurability for rough terrain
2000
Sensor Fusion and Decentralized Control in Robotic Systems III
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2006; you can also visit the original URL.
The file type is application/pdf.
Working in such conditions, a rover could become trapped due to loss of wheel traction, or even tip over. ...
This paper presents a method to control this reconfigurability to enhance system tipover stability. A stability metric is defined and optimized online using a quasi-static model. ...
ACKNOWLEDGMENTS The assistance of the Planetary Robotics Laboratory staff in conducting experimental trials with the SRR is greatly appreciated. ...
doi:10.1117/12.403739
fatcat:yhel3i5s3fbongm5eyuqrb75g4
Robust obstacle crossing of a wheel-legged mobile robot using minimax force distribution and self-reconfiguration
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2011.6094857
dblp:conf/iros/JarraultGB11
fatcat:sfwfijtdprfttoibu7caesmh3y
Robust obstacle crossing of a wheel-legged mobile robot using minimax force distribution and self-reconfiguration
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2011.6048542
fatcat:g4d6oel7yfamfpene43ep45ejy
Experimental Evaluation of Obstacle Clearance by a Hybrid Wheel-Legged Robot
[chapter]
2015
Springer Tracts in Advanced Robotics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
We focus on the particular architecture of hybrid wheel-legged robots that are redundantly actuated systems. ...
This paper deals with the problem of frontal obstacle crossing by a poly-articulated wheeled robot. ...
to form a planar reconfigurable omnidirectional mobile robot. ...
doi:10.1007/978-3-319-23778-7_4
fatcat:7drfyzatwbh2fhg4gjuuu5lyii
2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
2001
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems Expanding the Societal Role of Robotics in the the Next Millennium (Cat No 01CH37180) IROS-01
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2001.976235
fatcat:pmubowjzdregzkyexf6xnldddu
2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
2001
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems Expanding the Societal Role of Robotics in the the Next Millennium (Cat No 01CH37180) IROS-01
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2001.973325
fatcat:ojmlggrwzfdjbawlzlsld5fwt4
2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
2001
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems Expanding the Societal Role of Robotics in the the Next Millennium (Cat No 01CH37180) IROS-01
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2001.976332
fatcat:awbrnvnkebfnleotpegu2ljptm
2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
2002
IEEE/RSJ International Conference on Intelligent Robots and System IROS-02
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/irds.2002.1041350
fatcat:cocbo2vnijfktmjjoldly7v5gq
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
2005
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2005.1544945
fatcat:zqp7ghazfzcnxdcheyhv5wfrwq
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
2003
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2003.1250594
fatcat:amsnfk2idjf7tjnqpumpn2a2im
2006 IEEE/Rsj International Conference on Intelligent Robots and Systems
2006
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. ...
To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. ...
Finally, section IV gives simulation results for the wheel-legged robot HyLoS2 (Fig. 1) and presents a numerical analysis of an obstacle cross-ability.
II. CONTACT STABILITY
A. ...
doi:10.1109/iros.2006.282202
fatcat:4dr4i75mkvcwbknmtghxg4jsze
« Previous
Showing results 1 — 15 out of 200 results