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This paper focuses on the problem of robust obstacles crossing for a high mobility wheel-legged robot. To improve the obstacle clearance capability, a method dealing with the contact stability optimization is developed. A specific stability criterion taking the friction into account is proposed. The optimization algorithm uses both the kinematic redundancy(More)
The paper develops a method for analyzing and improving by control obstacle clearance capacities of articulated multi-wheeled rovers. On uneven ground surface, load and traction force distributions through the wheel/ground contact system are highly coupled. They are both conditioned by the global equilibrium of the mechanical system and the contact(More)
This paper deals with the problem of frontal obstacle crossing by a poly-articulated wheeled robot. We focus on the particular architecture of hybrid wheel-legged robots that are redundantly actuated systems. In this paper, experimental results that show the climbing capabilities of such system when crossing large obstacle are presented. We focus on the(More)
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