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Date
2004Type
- Conference Paper
ETH Bibliography
no
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Abstract
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. Show more
Publication status
publishedExternal links
Book title
2004 IEEE International Conference on Robotics and AutomationVolume
Pages / Article No.
Publisher
IEEEEvent
Organisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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ETH Bibliography
no
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