Mobile robot kinematic reconfigurability for rough-terrain

被引：25
|
作者：
Iagnemma, K [1 ]
Rzepniewski, A [1 ]
Dubowsky, S [1 ]
Pirjanian, P [1 ]
Huntsberger, T [1 ]
Schenker, P [1 ]
机构：
[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
来源：
SENSOR FUSION AND DECENTRALIZED CONTROL IN ROBOTIC SYSTEMS III | 2000年 / 4196卷
关键词：
mobile robots; reconfigurability; static stability; rough terrain;
D O I：
10.1117/12.403739
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Future planetary exploration missions will use revers to perform tasks in rough terrain. Working in such conditions, a rover could become trapped due to loss of wheel traction, or even tip over. The Jet Propulsion Laboratory has developed a new rover with the ability to reconfigure its structure to improve tipover stability and ground traction. This paper presents a method to control this reconfigurability to enhance system tipover stability. A stability metric is defined and optimized on-line using a quasi-static model. Simulation and experimental results for the Sample Return Rover (SRR) are presented. The method is shown to be practical and yields significantly improved stability in rough terrain.
引用
收藏
页码：413 / 420
页数：8
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