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An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization
2015
Robotica (Cambridge. Print)
SUMMARY This paper discusses the development of an optimal wheel-torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and minimize power consumption. In this work, an optimal wheel-torque controller is proposed that
doi:10.1017/s0263574715000685
fatcat:3qgehx3pfvg6fbsdtuew7tvkx4