000097544 001__ 97544
000097544 005__ 20180127202426.0
000097544 02470 $$2ISI$$a000221794800753
000097544 037__ $$aCONF
000097544 245__ $$aWheel torque control for a rough terrain rover
000097544 269__ $$a2004
000097544 260__ $$c2004
000097544 336__ $$aConference Papers
000097544 520__ $$aNavigating 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.
000097544 6531_ $$aShrimpNav
000097544 700__ $$0241263$$aLamon, P.$$g102274
000097544 700__ $$aKrebs, A.
000097544 700__ $$0241480$$aLauria, M.$$g102309
000097544 700__ $$aShooter, S.
000097544 700__ $$0240969$$aSiegwart, R.$$g112562
000097544 7112_ $$aNone$$d2004-04-26
000097544 8564_ $$uhttp://www.icra2004.org/$$zConference Web Site
000097544 8564_ $$iINTERNAL$$uhttps://infoscience.epfl.ch/record/97544/files/TrqCtrlIcra2004.pdf$$xPUBLIC$$zn/a
000097544 909C0 $$0252186$$pLSA
000097544 909CO $$ooai:infoscience.tind.io:97544$$pconf
000097544 937__ $$aLSA-CONF-2004-023
000097544 970__ $$a438/LSA
000097544 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000097544 980__ $$aCONF