@inproceedings{e541926a775842b98d510330577b845e,
title = "Skid Steering Control and Wheel-Centred Trajectory Planning for Wheel-Legged Robots",
abstract = "Wheel-legged robots use skid steering due to space constraints. During the steering process, the tire longitudinal and lateral force are large, and the wheel motor performance requirements are high. Combining the characteristics of wheel-legged robots, which has many degrees of freedom, a wheel-centred trajectory planning method is proposed. The control framework based on the skid steering by the way of reducing the wheelbase is designed in order to improve the steering performance. Wheel-centred trajectory is converted to hip and knee joint angles by the joint angle solver. Designing a longitudinal velocity controller based on PID control and a yaw rate controller based on synovial control. The efficiency and steering stability of the robot can be improved and the requirement for drive motors can also be reduced with the help of the method.",
keywords = "adjustable wheelbase, skid steering, trajectory plan, wheel-legged robot",
author = "Weihe Hao and Lijin Han and Hui Liu and Xiaolei Ren and Jingshuo Xie and Jiayong Ma",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023 ; Conference date: 01-12-2023 Through 03-12-2023",
year = "2023",
doi = "10.1109/RICAI60863.2023.10489493",
language = "English",
series = "2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "149--152",
booktitle = "2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023",
address = "United States",
}