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
收藏
页码：4682 / 4687
页数：6
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