Abstract
For exploration missions with autonomous robotic systems, one of the most important goal of any control system is to ensure the vehicle integrity. In this paper, the control scheme of an hybrid wheel-legged robot is presented. This scheme uses artificial potential field for the on-line stability control of the vehicle. First, the principle of this method is outlined and, then, simulation results in 2-D are presented. © 2006 Springer-Verlag Berlin Heidelberg.
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CITATION STYLE
Besseron, G., Grand, C., Ben Amar, F., Plumet, F., & Bidaud, P. (2006). Stability control of an hybrid wheel-legged Robot. In Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 (pp. 533–540). Kluwer Academic Publishers. https://doi.org/10.1007/3-540-26415-9_64
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