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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)
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Automation
Conference DateMay 12-17, 2009
Conference PlaceKobe, JAPAN
Author of SourceIEEE
Source PublicationICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7
PublisherIEEE
Publication PlaceNEW YORK
2009
Pages2977-2982
Indexed ByEI ; CPCI(ISTP)
EI Accession number20094512419412
WOS IDWOS:000276080401300
Contribution Rank2
ISSN1050-4729
ISBN978-1-4244-2788-8
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19872
Collection机器人学研究室
Corresponding AuthorQuan, Qiquan
Affiliation1.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
Recommended Citation
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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