Stability and traction optimization of a reconfigurable wheel-legged robot

International Journal of Robotics Research

Volumn 23, Issue 10-11, 2004, Pages 1041-1058

  Grand, Christophe ^a   Benamar, Faïz ^a   Plumet, Frédéric ^a   Bidaud, Philippe ^a  

^a UNIVERSITÉ PIERRE ET MARIE CURIE   (France)

Author keywords

Irregular terrains; Posture control; Rover mobility; Stability

Indexed keywords

ACCIDENT PREVENTION; ALGORITHMS; BIPED LOCOMOTION; ELECTRIC TRACTION; OPTIMIZATION; REDUNDANCY; SYSTEM STABILITY;

AUTONOMY; IRREGULAR TERRAINS; POSTURE CONTROL; ROVER MOBILITY;

MOBILE ROBOTS;

EID: 6344270183     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364904047616     Document Type: Conference Paper

References (25)

1. Andrade, G., BenAmar, F., Bidaud, Ph., and Chatila, R. 1998. Modeling wheel-sand interaction for optimization of a rolling-peristaltic motion of a marsokhod robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Victoria, BC, Canada, pp. 576-581.
2. Balaram, J. 2000. Kinematic state estimation for a Mars rover. Robotica 18(3):251-262.
3. BenAmar, F., Budanov, V., Bidaud, Ph., Plumet, F., and Andade, G. 2000. A high mobility redundantly actuated minirover for self-adaptation to terrain characteristics. Proceedings of the 3rd International Conference on Climbing and Walking Robots, Madrid, Spain, pp. 105-112.
4. Craig, J.J. 1989. Introduction to Robotics, Addison-Wesley, Reading, MA.
5. Estier, T., Crausaz, Y., Merminod, B., Lauria, M., Piguet, R., and Siegwart, R. 2000. An innovative space rover with extended climbing abilities. Proceedings of the International Conference on Robotics in Challenging Environments, Albuquerque, NM.
6. Ghasempoor, A. and Sepehri, N. 1995. A measures of machine stability for moving base manipulators. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Nagoya, Japan, pp. 2249-2254.
7. Grand, Gh., BenAmar, F., Bidaud, P., and Andrade, G. 2001. A simulation system for behaviour evaluation of off-road mobile robots. Proceedings of the 4th International Conference on Climbing and Walking Robots, Karlsruhe, Germany, pp. 307-314.
8. Halme, A., Leppänen, I., Salmi, S., and Ylönen, S. 2000. Hybrid locomotion of a wheel-legged machine. Proceedings of the 3rd International Conference on Climbing and Walking Robots, Madrid, Spain.
9. Hirose, S. and Takeuchi, H. 1996. Study on roller-walk (basic characteristics and its control). Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, pp. 3265-3270.
10. Hirose, S., Tsukagoshi, H., and Yoneda, K. 2001. Normalized energy stability margin and its contour of walking vehicles on rough terrain. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, May 21-26, pp. 181-186.
11. Iagnemma, K. and Dubowsky, S. 2000. Vehicle wheel-ground contact angle estimation: with application to mobile robot traction control. Proceedings of the 7th International Symposium on Advances in Robot Kinematics, pp. 137-146.
12. Iagnemma, K., Rzepniewski, A., Dubowsky, S., and Schenker, P. 2003. Control of robotic vehicles with actively articulated suspensions in rough terrain. Autonomous Robots 14(1):5-16.
13. Kemurdjian, A.L. 1998. Planet rover as an object of the engineering design work. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, pp. 140-145.
14. Kumar, V.R. and Waldron, K.J. 1988. Force distribution in closed kinematic chains. IEEE Journal of Robotics and Automation 4(6):657-663.
15. McGhee, R.B. 1966. Finite state control of quadruped locomotion. Proceedings of the International Symposium on External Control of Human Extremities.
16. McGhee, R. and Frank, A. 1968. On the stability properties of quadruped creeping gait. Mathematical Bioscience 3:331-351.
17. Messuri, D.A. and Klein, C.A. 1985. Automatic body regulation for maintaining stability of a legged vehicle during rough terrain locomotion. IEEE Journal of Robotics and Automation 1(3):132-141.
18. Michaud, F. et al. 2003. Azimut: a leg-track-wheel robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 27-31, pp. 2553-2558.
19. Papadopoulos, E.G. and Rey, D.A. 1996. A new measure of tipover stability for mobile manipulators. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, pp. 3111-3116.
20. Rollins, E., Luntz, J., Foessel, A., Shaman, B., and Whittaker, W. 1998. Nomad: a demonstration of the transforming chassis. IProceedings of the IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, pp. 611-617.
21. Saranli, U., Buehler, M., and Koditschek, D.E. 2001. Rhex: a simple and highly mobile hexapod robot. International Journal of Robotics Research 20:616-631.
22. Song, S.M. and Waldron, K.J. 1989. Machines ThatWalk: The Adaptative Suspension Vehicle, MIT Press, Cambridge, MA.
23. Sreenivasan, S.V. and Waldron, K.J. 1996. Displacement analysis of an actively articulated wheeled vehicle configuration with extensions to motion planning on uneven terrain. Transactions of the ASME 118(6):312-317.
24. Sreenivasan, S.V. and Wilcox, B.H. 1994. Stability and traction control of an actively actuated microrover. Journal of Robotics Systems 11(6):487-502.
25. Volpe, R. 1997. Rocky 7: a next generation Mars rover prototype. Journal of Advanced Robotics 11(4):341-358.