Motion Control of a Compliant Wheel-Leg Robot for Rough Terrain Crossing
| Autor: | Faiz Benamar, Arthur Bouton, Christophe Grand |
|---|---|
| Přispěvatelé: | Sorbonne Université, Centre National de la Recherche Scientifique (CNRS), ONERA - The French Aerospace Lab [Toulouse], ONERA, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Chassis media_common.quotation_subject 02 engineering and technology Kinematics Inertia GeneralLiterature_MISCELLANEOUS [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics ROBOTIQUE 020901 industrial engineering & automation ROBOTIQUE MOBILITE CONTROLE Control theory 0202 electrical engineering electronic engineering information engineering Simulation media_common ComputingMethodologies_COMPUTERGRAPHICS MOBILITE business.industry Compliant mechanism Motion control [PHYS.PHYS.PHYS-SPACE-PH]Physics [physics]/Physics [physics]/Space Physics [physics.space-ph] Obstacle Robot 020201 artificial intelligence & image processing business Actuator CONTROLE |
| Zdroj: | 2016 IEEE International Conference on Robotics and Automation (ICRA) 2016 IEEE International Conference on Robotics and Automation (ICRA), p. 2846-2851, 2016, ⟨10.1109/ICRA.2016.7487448⟩ IEEE International Conference on Robotics and Automation (ICRA2016) IEEE International Conference on Robotics and Automation (ICRA2016), May 2016, Stockholm, Sweden. p. 2846-2851, ⟨10.1109/ICRA.2016.7487448⟩ ICRA |
| DOI: | 10.1109/ICRA.2016.7487448⟩ |
| Popis: | International audience; In this paper, we propose the use of compliant elements in the actuation of a wheel-legged robot in order to improve its locomotion properties on unknown and irregular terrains. Detection of the obstacles is achieved by a synergistic use of the structural compliances. The robot's capabilities to surmount steep obstacles is thus improved thanks to the inertia of the chassis and flexibility in postural control. In the proposed robot's kinematics, the four wheels are attached to the main body through vertical series elastic actuators (SEA) and with a passive horizontal compliant mechanism subject to a specific wheel speed control. The overall control relies on postural servoing and a local reactive loop which adapts the vertical forces applied by the SEA on each wheel according to the detected obstacle and the stability margin. The resulting system is evaluated with physical simulations for two case studies : a canonical steep obstacle on one wheel at a time and multiple random rough terrains. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|