Title :
Kinematic reconfigurability of mobile robots on irregular terrains
Author :
Freitas, Gustavo ; Lizarralde, Fernando ; Hsu, Liu ; Reis, Ney R.Salvi dos
Author_Institution :
Dept. of Electrical Eng., COPPE/Federal University of Rio de Janeiro, Brazil
Abstract :
This paper considers the active control problem of reconfigurable mobile robots on irregular terrain. A kinematic control strategy to improve robot mobility (stability and traction) is proposed. The proposed control is validated through numerical simulations and experimental tests using an amphibious wheel-legged robot, named Environmental Hybrid Robot, recently developed by Petrobras S.A. (Brazilian Petroleum Company) for environmental monitoring in the Amazon rain forest.
Keywords :
Automatic control; Kinematics; Leg; Mobile robots; Rain; Rough surfaces; Stability; Surface roughness; Testing; Vehicles;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152309
