Analysis, Evaluation and Control of Wheel-Legged Robots Tumble Stability
A mobile robot with symmetrical structure was presented. It has four independent wheel-legged articulations which can generate a series of configurations to improve its tumble stability. A dynamic energy stability method and a tumble stability index have been adopted to determine the robots stability comprehensively. The dynamic tumble stabilities have been studied when the robots six typical motile configurations change to each other. A fuzzy neural networks adaptive control system was created. Based on the tumble stability index, the robots configuration and velocity could be real-time changed for the sake of its stability in this system. The simulation results on two typical terrains imply that the behaviors provided by the system have high real-time performance and reliability. The comprehensive system would mitigate robot navigation risks actively and increase its survivability.
HaiboTian ZongdeFang YongZhou ShengjinLi
Northwestern Polytechnical University, Xian 710072,China
国际会议
武汉
英文
258-262
2008-12-19（万方平台首次上网日期，不代表论文的发表时间）