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Wheel torque Control for a rough Terrain Rover
(2004)2004 IEEE International Conference on Robotics and AutomationNavigating 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 ...Conference Paper