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Posture Control of a Dual-crawler-driven Robot
Quan, Qiquan; Ma SG(马书根); Li B(李斌); Liu RQ(刘荣强)
作者部门机器人学研究室
会议名称IEEE International Conference on Robotics and Automation
会议日期May 12-17, 2009
会议地点Kobe, JAPAN
会议主办者IEEE
会议录名称ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7
出版者IEEE
出版地NEW YORK
2009
页码2977-2982
收录类别EI ; CPCI(ISTP)
EI收录号20094512419412
WOS记录号WOS:000276080401300
产权排序2
ISSN号1050-4729
ISBN号978-1-4244-2788-8
摘要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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19872
专题机器人学研究室
通讯作者Quan, Qiquan
作者单位1.Department of Robotics, Ritsumeikan University, Japan
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
3.School of Mechatronics Engineering, Institute of Technology, Harbin, China
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GB/T 7714
Quan, Qiquan,Ma SG,Li B,et al. Posture Control of a Dual-crawler-driven Robot[C]//IEEE. NEW YORK:IEEE,2009:2977-2982.
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