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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
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. The optimization algorithm uses both the kinematic redundancy in order to modify the position of the Center of Mass (CoM), modifying the resulting distribution of contact forces, and the actuation
doi:10.1109/iros.2011.6048542
fatcat:g4d6oel7yfamfpene43ep45ejy