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… 
Design and Control of a Compliant Wheel-on-Leg Rover Which Conforms to Uneven Terrain
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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.
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