Experimental Evaluation of Obstacle Clearance by a Hybrid Wheel-Legged Robot
@inproceedings{Grand2014ExperimentalEO, title={Experimental Evaluation of Obstacle Clearance by a Hybrid Wheel-Legged Robot}, author={Christophe Grand and Pierre Jarrault and Fa{\"i}z Ben Amar and Philippe Bidaud}, booktitle={ISER}, year={2014} }
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 case of a step like obstacle whose height is superior to the diameter of the wheels. In this case, the adhesion properties have a large impact…
3 Citations
Design and Control of a Compliant Wheel-on-Leg Rover Which Conforms to Uneven Terrain
- EngineeringIEEE/ASME Transactions on Mechatronics
- 2020
The Complios robot is able to spontaneously adapt its configuration while it is rolling on unknown uneven terrain and gives access to the measurement of horizontal forces applied on the legs, which constitutes a valuable information when it comes to choose an appropriate response during obstacle crossing.
Caster-leg aided maneuver for negotiating surface discontinuities with a wheeled skid-steer mobile robot
- EngineeringRobotics Auton. Syst.
- 2017
Kinematic Analysis of a Mobile Robot While Overcoming Curb
- Computer ScienceLecture Notes in Mechanical Engineering
- 2019
References
SHOWING 1-10 OF 13 REFERENCES
Bounding Gait in a Hybrid Wheeled-Leg Robot
- Engineering2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
- 2006
This paper discusses the first implementation of a dynamically stable bounding gait on a hybrid wheeled-leg robot and experimental results demonstrating the key dynamic characteristics of the gait, including footfall patterns, are given.
Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation
- Engineering
- 2010
The Reconfigurable Omnidirectional Articulated Mobile Robot (ROAMeR)
- EngineeringISER
- 2010
This paper first extends a twist-based modeling approach to systematically construct the symbolic kinematic model for a general class of AWR before specializing it to the authors' planar AWR example, and develops a kinematics redundancy resolution scheme to coordinate the motion of the articulated legs and wheels.
PAW: a hybrid wheeled-leg robot
- EngineeringProceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
- 2006
In addition to providing design details, controllers are proposed for inclined turning and sprawled braking which take advantage of the hybrid nature of the platform and improve stability.
Athlete: A cargo handling and manipulation robot for the moon
- Computer ScienceJ. Field Robotics
- 2007
A robotic vehicle called ATHLETE—the All‐Terrain Hex‐Limbed, Extra‐Terrestrial Explorer—is described, along with initial results of field tests of two prototype vehicles. This vehicle concept is…
Efficient algorithm for optimal force distribution-the compact-dual LP method
- Computer ScienceIEEE Trans. Robotics Autom.
- 1990
An efficient algorithm, the compact-dual linear programming (LP) method, is presented to solve the force distribution problem and is applicable to a wide range of systems, constraints, and objective functions and yet is computationally efficient.
Analysis of Multifingered Hands
- Computer Science
- 1986
This paper discusses three fundamental problems relating to grasping and manipulating objects within an articulated, multifingered hand: determining how hard to squeeze an ob ject in order to ensure…
Impedance Control: An Approach to Manipulation
- Engineering, Psychology1984 American Control Conference
- 1984
Manipulation fundamentally requires a manipulator to be mechanically coupled to the object being manipulated. A consideration of the physical constraints imposed by dynamic interaction shows that…
Development of a Transformable Three‐wheeled Lunar Rover: Tri‐Star IV
- PhysicsJ. Field Robotics
- 2014
The mobilities of Tri-Star IV are reported on, which were verified in experiments conducted on real sand and a test bed and in a field test at the Nakatajima sand dune in Japan.
ROS: an open-source Robot Operating System
- Computer ScienceICRA 2009
- 2009
This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.