Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover | Zendy

Christophe Grand | Zendy; Faïz Ben Amar | Zendy; Philippe Bidaud | Zendy

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<title>Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover</title>

Author(s) -

Christophe Grand,

Faïz Ben Amar,

Philippe Bidaud

Publication year - 2002

Publication title -

proceedings of spie, the international society for optical engineering/proceedings of spie

Language(s) - English

Resource type - Conference proceedings

SCImago Journal Rank - 0.192

H-Index - 176

eISSN - 1996-756X

pISSN - 0277-786X

DOI - 10.1117/12.474461

Subject(s) - kinematics , traction control system , torque , traction (geology) , computer science , stability (learning theory) , control theory (sociology) , process (computing) , control engineering , engineering , automotive engineering , aerospace engineering , control (management) , mechanical engineering , physics , artificial intelligence , classical mechanics , machine learning , thermodynamics , operating system

This paper deals with the optimisation of locomotion performances of vehicle used for planetary exploration. The design of an innovative reconfigurable mini-rover is presented. Then, a control process that optimize the stability and the global traction performances is developed. A method to identify in-situ the wheel-ground mechanical contact properties is proposed and used to determine an optimal traction torque. Results on experiments and simulations show that the rover stability is significantly enhanced by using the proposed control method. Keywords: hybrid locomotion, reconfiguration, force balance, stability, wheel-ground interaction.

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