Publication

Wheel torque control for a rough terrain rover

Roland Siegwart, Michel Lauria, Pierre Lamon
2004
Conference Papers

Abstract

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. In this paper, quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented together with a method for selecting the optimal torques considering the system constraints: maximal and minimal torques, positive normal forces. The aim of this method is to limit wheel slip and to improve climbing capabilities. The modeling and the optimization are applied to the Shrimp rover.

Official source

https://infoscience.epfl.ch/entities/publication/0fee8fee-4dd6-442b-a07c-17340495eacb

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Roland Siegwart, Michel Lauria, Pierre Lamon
2004
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/0fee8fee-4dd6-442b-a07c-17340495eacb

About this result

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Wheel torque control for a rough terrain rover

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