Balance Control of Articulated Rovers With Active Suspension

McDermott, G.; Tarokh, Mahmoud; Mireles, Lorena

doi:10.3182/20060906-3-it-2910.00121

Cited by 5 publications

(1 citation statement)

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“…18 The balance control of rovers to avoid tip-over is reported in ref. [19], and systematic modeling of high-mobility rovers was developed in ref. [20].…”

Section: Introductionmentioning

confidence: 99%

Kinematics-Based Simulation and Animation of Articulated Rovers Traversing Uneven Terrains

Tarokh¹,

Ho²

2019

Robotica

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SummaryThe paper develops a simulation and animation environment for high-mobility rovers based on kinematic modeling. Various kinematic chains starting from the rover body to the wheels are analyzed and aggregated to obtain the model of the rover body motion in terms of the wheel motions. This model is then used to determine the actuations of the joints, wheels speed, and steering motors to achieve a desired motion of the rover over uneven terrain while avoiding loss of balance and tip-over. The simulation environment consists of a number of modules, including terrain and trajectory generation, and kinematic models for rover actuation and navigation. The animation of the rover motion over various terrains is developed, which allows observing the rover from various viewpoints and interacting with the system through a graphical user interface. The performance of the overall system is demonstrated by modeling a high-mobility space exploration rover, and the responses of the rover on uneven terrains are provided, which show the usefulness of the proposed modeling, simulation, and animation scheme.

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“…18 The balance control of rovers to avoid tip-over is reported in ref. [19], and systematic modeling of high-mobility rovers was developed in ref. [20].…”

Section: Introductionmentioning

confidence: 99%