Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking

He, Jun; Sun, Yanlong; Yang, Limin; Gao, Feng

doi:10.3390/s22114164

Cited by 8 publications

(4 citation statements)

References 28 publications

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“…“Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking” [ 7 ] develops an innovative Wheeled–Legged Planetary Rover for Trajectory Tracking, and a hybrid serial–parallel topology is utilized to realize a rigid–flexible coupling mechanism. The control strategy for the wheeled–legged rover includes a trajectory tracking module based on model predictive control, the steering strategy and the wheel speed allocation algorithm.…”

Section: Review Of the Contributions In This Special Issuementioning

confidence: 99%

Advanced Intelligent Control in Robots

Vlădăreanu

Wang

et al. 2023

Sensors

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Section: Review Of the Contributions In This Special Issuementioning

confidence: 99%

Advanced Intelligent Control in Robots

Vlădăreanu

Wang

et al. 2023

Sensors

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“…Brushless electric DC motors are used. The single-stage planetary gearboxes that He et al [34] and his group created are effective and efficient. The hip's width decreases due to the planetary gearbox inside the stator frame.…”

Section: B Leg and Actuator Designmentioning

confidence: 99%

Design, Modelling, and Analysis of Legged Robot for Terrains Exploration

Hourani¹,

Iskandarani²

2023

Int. J. Adv. Sci. Eng. Inf. Technol.

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Robotics design and applications become significant worldwide. In this work, an improved and upgraded Legged based robot is designed and modeled with the mathematical framework to enable rough terrain exploration. This work aims to analyze existing robots design and use it to design a better and more efficient robot that could be used in surveillance and exploration. In the proposed design, the robotâ€™s stability is the main target. The new proposed design of the robot considers such a critical parameter. In designing the optimized and improved robot, weight, cost, and the closed-loop control algorithm for this robot are closely examined, described, and analyzed with promising results. The resulting design with solar panels as a partial power supply is simulated with mathematical modeling and analysis. The special case of the robotâ€™s whole body covered with solar panels is described, characterizing curves relating drag force to solar power. The effect of safety factors and velocity is also characterized in the work. The resulting mathematical model describing curves showed a linear dependency between solar power (driving power) and drag force, with similar findings for the safety factor. However, a less linear, close-to-exponential relationship is demonstrated for velocity about the drag force. Such dynamic-legged design with supporting springs is numerically modeled using the Jacobian element, which proved to be the most suitable.

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“…These robots aim to replicate the human-liked locomotion that typically consist of two legs and strive to imitate the natural gait patterns observed in humans and other mammals [1]. Therefore, to achieve a stable locomotion, these robots require advanced control algorithms, sensory feedback systems, and mechanical designs that provide sufficient stability and adaptability [2]. In recent years, there has been a growing interest in robot development, specifically focusing on hybrid mechanisms and locomotion.…”

Section: Introductionmentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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This comprehensive review delves into the realm of bipedal wheel-legged robots, focusing on their design, control, and applications in assistive technology and disaster mitigation. Drawing insights from various fields such as robotics, computer science, and biomechanics, it offers a holistic understanding of these robots' stability, adaptability, and efficiency. The analysis encompasses optimization techniques, sensor integration, machine learning, and adaptive control methods, evaluating their impact on robot capabilities. Emphasizing the need for adaptable, terrain-aware control algorithms, the review explores the untapped potential of machine learning and soft robotics in enhancing performance across diverse operational scenarios. It highlights the advantages of hybrid models combining legged and wheeled mobility while stressing the importance of refining control frameworks, trajectory planning, and human-robot interactions. The concept of integrating soft and compliant mechanisms for improved adaptability and resilience is introduced. Identifying gaps in current research, the review suggests future directions for investigation in the fields of robotics and control engineering, addressing the evolution and terrain adaptability of bipedal wheel-legged robots, control, stability, and locomotion, as well as integrated sensory and perception systems, microcontrollers, cutting-edge technology, and future design and control directions.

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Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking

Cited by 8 publications

References 28 publications

Advanced Intelligent Control in Robots

Advanced Intelligent Control in Robots

Design, Modelling, and Analysis of Legged Robot for Terrains Exploration

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

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