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Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
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This paper addresses the control of a hybrid wheellegged system evolving on rough terrain. First, the posture and trajectory parameters are introduced. 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 of the system workspace
doi:10.1109/robot.2004.1302528
dblp:conf/icra/GrandAPB04
fatcat:keh7esazv5cr3gnczzbu6moqtu