TY - GEN
T1 - Posture control of a dual-crawler-driven robot
AU - Quan, Qiquan
AU - Ma, Shugen
AU - Li, Bin
AU - Liu, Rongqiang
PY - 2009
Y1 - 2009
N2 - This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted.In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.
AB - This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted.In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.
UR - https://www.scopus.com/pages/publications/70350371277
U2 - 10.1109/ROBOT.2009.5152784
DO - 10.1109/ROBOT.2009.5152784
M3 - 会议稿件
AN - SCOPUS:70350371277
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2977
EP - 2982
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -