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

@article{Grand2004DecoupledCO,
  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},
  year={2004},
  volume={5},
  pages={5111-5116}
}
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. 
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A high mobility redundantly actuated mini-rover for self adaptation to terrain characteristics

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

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