Title :
Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos
Author :
Grand, Ch. ; BenAmar, F. ; Plumet, F. ; Bidaud, Ph.
Author_Institution :
Laboratoire de Robotique de Paris
fDate :
April 26 2004-May 1 2004
Abstract :
This paper addresses the control of a hybrid wheel-legged 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.
Keywords :
Control systems; Energy consumption; Hazardous areas; Kinematics; Legged locomotion; Mobile robots; Robot control; Stability; Vehicles; Velocity control;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Conference_Location :
New Orleans, LA, USA
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1302528
