Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos

  title={Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos},
  author={Christophe Grand and Fa{\"i}z Ben Amar and Fr{\'e}d{\'e}ric Plumet and Philippe Bidaud},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
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. 
Highly Cited
This paper has 50 citations. REVIEW CITATIONS

From This Paper

Figures, tables, results, connections, and topics extracted from this paper.
38 Extracted Citations
21 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.
Showing 1-10 of 38 extracted citations

51 Citations

Citations per Year
Semantic Scholar estimates that this publication has 51 citations based on the available data.

See our FAQ for additional information.

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 21 references

A high mobility redundantly actuated mini-rover for self adaptation to terrain characteristics

  • F. BenAmar, V. Budanov, P. Bidaud, F. Plumet, G. Andade
  • 3rd International Conference on Climbing and…
  • 2000
1 Excerpt

Modeling wheelsand interaction for optimization of a rolling-peristaltic motion of a marsokhod robot

  • G. Andrade, F. BenAmar, P. Bidaud, R. Chatila
  • International Conference on Intelligent Robots…
  • 1998
1 Excerpt

Similar Papers

Loading similar papers…