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The focus of this work is a systematic study of the passive gait of a compass-like, planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the "hip" joint. Three parameters, namely, the ground-slope angle and the normalized mass and length(More)
— In automatic guidance of agriculture vehicles, lateral control is not the only requirement. Lots of research works have been focused on trajectory tracking control which can provide high longitudinal-lateral control accuracy. Satisfactory results have been reported as soon as vehicles move without sliding. But unfortunately pure rolling constraints are(More)
— In this paper, a complete system for outdoor robot navigation is presented. It uses only monocular vision. The robot is first guided on a path by a human. During this learning step, the robot records a video sequence. From this sequence a three dimensional map of the trajectory and the environment is built. When this map has been computed, the robot is(More)
Visual servoing requires an object in the field of view of the camera, in order to control the robot evolution. Otherwise , the virtual link is broken and the control loop cannot continue to be closed. In this paper, a novel approach is presented in order to guarantee that the object remains in the field of view of the camera during the whole robot motion.(More)
When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a(More)
A major problem in the design of control laws dedicated to mobile robots appears when the classical hypothesis of rolling without sliding wheels is violated. It is generally the case for off-road vehicles as adherence conditions are often not satisfactory and sliding can then cease to be negligible. Consequently theoretical performance is impaired and the(More)
This paper proposes an analysis of the behavior of perhaps the simplest biped r obot: the compass gait model. It has been shown previously that such a robot can walk down a slope indeenitely without any actua-tion. Passive motions of this nature a r e o f p articular interest since t h e y m a y l e ad us to strategies for controlling active walking(More)