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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)
It is well-known that a suitably designed unpowered mechanical biped robot can \walk" down an inclined plane with a steady gait. The characteristics of the gait (e.g., velocity, step period, step length) depend on the geometry and the inertial properties of the robot and the slope of the plane. The energy required to maintain the steady motion comes from(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)
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)
— In this paper, automatic path tracking of a four-wheel-steering vehicle in presence of sliding is addressed. The attractive feature of such a steering system is that, despite of sliding phenomena, both lateral and angular deviations can be explicitly controlled. Indeed, previous research has demonstrated that high-precision path tracking on a low grip(More)
—To address traffic saturation in cities, new " Urban Transportation Systems " , based on electric vehicles in free-access, are in developing. One necessary functionality of such systems is their ability to move in a platoon fashion. A global decentralized platoon control strategy, supported by inter-vehicle communications, is addressed in this paper,(More)
— Various " Urban Transportation Systems " are currently in developing, in order to put forward solutions to congestion and pollution in dense areas. Autonomous electric vehicles in free-access can be seen as an attractive approach, in view of the large flexibility that can be expected. One instrumental functionality linked to this solution is platoon(More)