Abstract
This paper describes a control algorithm that optimises the distribution of joint torques of a polyarticulted robot while performing obstacle clearance of a large step. In this work, a special class of polyarticulted locomotion systems known as hybrid wheellegged robots is considered. This type of system is usually redundantly actuated, involving internal forces that could be exploited to improve the tipover stability and the traction forces needed to address more challenging obstacles. The proposed algorithm is based on the forces distribution model including internal forces. Its objective is to optimize a criterion representing the maximum allowable disturbance while respecting the frictional contact conditions. The performance of this controller is evaluated in simulation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
Fan-Tien Cheng and David E. Orin. Efficient algorithm for optimal force distribution - the compact-dual lp method. In IEEE Transaction on Robotics and Automation, volume 6, April 1990.
S. R. K. Dutta and M. Vidyasagar. New algorithms for constrained minimax optimization. Mathematical Programming, 13:140–155, 1977.
C. Grand, F. Ben Amar, F. Plumet, and Ph. Bidaud. Stability control of a wheel-legged mini-rover. In Proc. of CLAWAR’02 : 5th Int. Conf. on Climbing and Walking Robots, pages 323–330, Paris, France, 2002.
Christophe Grand, Faiz Ben Amar, and Frederic Plumet. Motion kinematics analysis of wheeled-legged robot over 3d surface with posture adaptation. Mechanism and Machine Theory, 45(3):477–495, March 2010.
Aarne Halme, Ilkka Leppnen, Jussi Suomela, Sami Ylnen, and Ilkka Kettunen. Workpartner : Interactive human-like service robot for outdoor applications. The international journal of robotics Research, 22(7-8):627 – 640, 2003.
J. Kerr and B. Roth. Analysis of multifingered hands. International Journal of Robotic Research, 4:3–17, 1986.
David Kirkpatrick, Bhubaneswar Mishra, and Chee-Keng Yap. Quantitative steinitz’s theorems with applications to multifingered grasping. Discrete and Computational Geometry, 7:295–318, 1992.
Tsunoe Yoshikawa and Kiyoshi Nagai. Evaluation and determination of grasping forces for multi-fingered hands. In IEEE Conference on Robotic & Automation, volume 1, pages 245–248, 1988.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 CISM, Udine
About this paper
Cite this paper
Jarrault, P., Grand, C., Bidaud, P. (2013). Torque Control of a Poly-articulated Mobile Robot During Obstacle Clearance. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_36
Download citation
DOI: https://doi.org/10.1007/978-3-7091-1379-0_36
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
eBook Packages: EngineeringEngineering (R0)