ROMANSY 11 pp 223-232 | Cite as

Active Coordination of Robotic Terrain-Adaptive Wheeled Vehicles for Power Minimization

  • S. C. Venkataraman
  • S. V. Sreenivasan
  • K. J. Waldron
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


An active coordination scheme is developed for articulated wheeled vehicles equipped with redundant actuation, for the minimization of power consumed during locomotion on soft terrain. A detailed soil-mechanics model is used to incorporate the effects of sinkage, slip and soil resistance at the wheel-terrain contact. The coordination scheme determines the optimal actuator torques to perform vehicle guidance and is consistent with the kinematic and dynamic constraints imposed on the vehicle system due to the non-holonomic nature of the wheel-terrain contact. The key feature in the coordination scheme is the optimal allocation of the wheel plane contact forces in response to the differences in the soil condition at the different wheel contacts.


Contact Force Active Coordination Coordination Scheme Minimum Norm Solution Front Module 
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • S. C. Venkataraman
    • 1
  • S. V. Sreenivasan
    • 2
  • K. J. Waldron
    • 3
  1. 1.The Ohio State UniversityColumbusUSA
  2. 2.University of Texas at AustinAustinUSA
  3. 3.The Ohio State UniversityColumbusUSA

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