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Kinematic reconfigurability of mobile robots on irregular terrains

Gustavo Freitas, Fernando Lizarralde, Liu Hsu, Ney R. Salvi dos Reis
2009 2009 IEEE International Conference on Robotics and Automation  
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

Gustavo Freitas, Gabriel Gleizer, Fernando Lizarralde, Liu Hsu, Ney Robinson Salvi dos Reis
2010 Journal of Field Robotics  
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

Christophe Grand, Faiz Ben Amar, Philippe Bidaud, Grant R. Gerhart, Chuck M. Shoemaker, Douglas W. Gage
2002 Unmanned Ground Vehicle Technology IV  
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]

G. Besseron, Ch. Grand, F. Ben Amar, F. Plumet, Ph. Bidaud
2005 Climbing and Walking Robots  
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

Karl D. Iagnemma, Adam Rzepniewski, Steven Dubowsky, Paolo Pirjanian, Terrance L. Huntsberger, Paul S. Schenker, Gerard T. McKee, Paul S. Schenker
2000 Sensor Fusion and Decentralized Control in Robotic Systems III  
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

Pierre Jarrault, Christophe Grand, Philippe Bidaud
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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

P. Jarrault, C. Grand, P. Bidaud
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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]

Christophe Grand, Pierre Jarrault, Faiz Ben Amar, Philippe Bidaud
2015 Springer Tracts in Advanced Robotics  
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  
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  
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  
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  
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  
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  
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  
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
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