Name
Abstract | ||
|---|---|---|
This paper constructed a two-level hierarchical control architecture for legged locomotion when wheel groups are locked, which enables the robot to negotiate rough terrain. A novel wheel-quadruped hybrid mobile robot with parallel driving mechanism based on Stewart 6-DOF platform, the "BIT-NAZA" robot, is presented. The high-level planner selects a sequence of candidate footholds and achieves COG (center of gravity) trajectory planning, in which the graph search, optimizing approach, and best-first search are combined together. The low-level controller acquires the swing foot trajectories and COG attitude-adjusted criterion, and tracks these desired loci to steer robot obtain preferable stability margin during walking process. Otherwise, a simulated experiment is conducted to verify the controller sufficiency for traversing 3D challenging terrain with forbidden areas including ditches and stair edges. |
Year | Venue | Field |
|---|---|---|
2018 | 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | Control theory,Control theory,Computer science,Terrain,Robot kinematics,Cog,Robot,Trajectory,Mobile robot,Center of gravity |
DocType | ISSN | Citations |
Conference | 0743-1619 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fei Guo | 1 | 2 | 5.53 |
| ShouKun Wang | 2 | 3 | 4.12 |
| JunZheng Wang | 3 | 33 | 16.27 |