Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Conferences, Workshops, Symposiums, and Seminars
  4. Wheel torque control for a rough terrain rover
 
conference paper

Wheel torque control for a rough terrain rover

Lamon, P.  
•
Krebs, A.
•
Lauria, M.  
Show more
2004
2004 IEEE International Conference on Robotics and Automation
IEEE International Conference on Robotics and Automation, 2004

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.

  • Files
  • Details
  • Metrics
Loading...
Thumbnail Image
Name

TrqCtrlIcra2004.pdf

Access type

openaccess

Size

661.02 KB

Format

Adobe PDF

Checksum (MD5)

5ede1d9a0f447a8ee92c7fd127e56a3b

Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés