Wheel torque control for a rough terrain rover

被引：40

作者：

Lamon, P ^{[1
]}

Krebs, A ^{[1
]}

Lauria, M ^{[1
]}

Siegwart, R ^{[1
]}

Shooter, S ^{[1
]}

机构：

[1] Swiss Fed Inst Technol, EPFL, Autonomous Syst Lab, CH-1015 Lausanne, Switzerland

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1302456

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don't consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. In this paper, quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented together with a method for selecting the optimal torques considering the system constraints: maximal and minimal torques, positive normal forces. The aim of this method is to limit wheel slip and to improve climbing capabilities. The modeling and the optimization are applied to the Shrimp rover.

引用

页码：4682 / 4687

页数：6

共 50 条

[31] Horizon-stability control for wheel-legged robot driving over unknow, rough terrain
Xu, Kang
Wang, Shoukun
Shi, Lei
Li, Jianyong
Yue, Binkai
MECHANISM AND MACHINE THEORY, 2025, 205
[32] Development of Four-wheel-type Mobile Robot for Rough Terrain and Verification of Its Fundamental Capability of Moving on Rough Terrain
Nakajima, Shuro
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, 2009, : 1968 - 1973
[33] A Method for Traction Ability Research of a Rover Wheel on Mixed Planet Terrain with Movable Stones
Du, Jiangshan
Huang, Tieqiu
SPACE-SCIENCE & TECHNOLOGY, 2023, 3
[34] Traction control and simulation of a integrative wheel for lunar rover
Liu Jianjun
Chen Jianxin
PROCEEDINGS OF THE 24TH CHINESE CONTROL CONFERENCE, VOLS 1 AND 2, 2005, : 1434 - 1438
[35] Evolution of a Four Wheeled Active Suspension Rover with Minimal Actuation for Rough Terrain Mobility
Singh, Arun Kumar
Eathakota, Vijay Prakash
Krishna, K. Madhava
Patil, Arun H.
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 794 - +
[36] Automotive Wheel Torque Control Systems
Belousov B.N.
Lapenkov R.F.
Starikov A.F.
Scherbin A.M.
Russ. Eng. Res., 2024, 4 (483-492): : 483 - 492
[37] Optimal Traction Forces for Four-Wheel Rovers on Rough Terrain
Effati, Meysam
Skonieczny, Krzysztof
CANADIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING-REVUE CANADIENNE DE GENIE ELECTRIQUE ET INFORMATIQUE, 2019, 42 (04): : 215 - 224
[38] Rough terrain locomotion of a leg-wheel hybrid quadruped robot
Takahashi, Masashi
Yoneda, Kan
Hirose, Shigeo
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 1090 - 1095
[39] Equivalent Acceleration Imitation for Single Wheel of Manned Lunar Rover by Varying Torque on Earth
Liang, Zhongchao
Chen, Jie
Wang, Yongfu
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2020, 25 (01) : 282 - 293
[40] The Study of Wheel Driving Torque Optimization of Mars Rover with Active Suspension in Obstacle Crossing
Tang Ling
Liu Tao
Wei Shimin
Liu Yafang
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT IV, 2019, 11743 : 283 - 293

← 1 2 3 4 5 →