Posture coupled optimization control of wheel-legged robot

Yan Xu; Xingguang Duan

doi:10.3969/j.issn.1004-132X.2016.04.001

Posture coupled optimization control of wheel-legged robot

Yan Xu, Xingguang Duan

School of Mechatronical Engineering

Hebei Normal University

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

When wheel-legged mobile robots moved in uneven terrains, three basic non-isolated control problems such as stability control, drive traction control, and posture control were produced. Herein kinematic model with wheel-legged mode was established firstly, which was suitable to describe the robot posture. Then stability and traction functions were addressed. In order to have good adaptability, high maneuverability of negotiation and high locomotion security, coupled optimization function was built and coupled optimization control was realized based on the comprehensive analyses of the stability and traction characteristics, which could supply the coupled optimization criteria for stability and traction, and realize the posture optimization control of the robots. The effectiveness of the method was confirmed by experiments.

Original language	English
Pages (from-to)	427-432
Number of pages	6
Journal	Zhongguo Jixie Gongcheng/China Mechanical Engineering
Volume	27
Issue number	4
DOIs	https://doi.org/10.3969/j.issn.1004-132X.2016.04.001
Publication status	Published - 25 Feb 2016

Keywords

Coupled optimization
Drive traction characteristics
Stability
Wheel-legged robot

Access to Document

10.3969/j.issn.1004-132X.2016.04.001

Cite this

@article{004a963055ee40d8a24f2b34494b6fd9,

title = "Posture coupled optimization control of wheel-legged robot",

abstract = "When wheel-legged mobile robots moved in uneven terrains, three basic non-isolated control problems such as stability control, drive traction control, and posture control were produced. Herein kinematic model with wheel-legged mode was established firstly, which was suitable to describe the robot posture. Then stability and traction functions were addressed. In order to have good adaptability, high maneuverability of negotiation and high locomotion security, coupled optimization function was built and coupled optimization control was realized based on the comprehensive analyses of the stability and traction characteristics, which could supply the coupled optimization criteria for stability and traction, and realize the posture optimization control of the robots. The effectiveness of the method was confirmed by experiments.",

keywords = "Coupled optimization, Drive traction characteristics, Stability, Wheel-legged robot",

author = "Yan Xu and Xingguang Duan",

year = "2016",

month = feb,

day = "25",

doi = "10.3969/j.issn.1004-132X.2016.04.001",

language = "English",

volume = "27",

pages = "427--432",

journal = "Zhongguo Jixie Gongcheng/China Mechanical Engineering",

issn = "1004-132X",

publisher = "China Mechanical Engineering Magazine Office",

number = "4",

}

TY - JOUR

T1 - Posture coupled optimization control of wheel-legged robot

AU - Xu, Yan

AU - Duan, Xingguang

PY - 2016/2/25

Y1 - 2016/2/25

N2 - When wheel-legged mobile robots moved in uneven terrains, three basic non-isolated control problems such as stability control, drive traction control, and posture control were produced. Herein kinematic model with wheel-legged mode was established firstly, which was suitable to describe the robot posture. Then stability and traction functions were addressed. In order to have good adaptability, high maneuverability of negotiation and high locomotion security, coupled optimization function was built and coupled optimization control was realized based on the comprehensive analyses of the stability and traction characteristics, which could supply the coupled optimization criteria for stability and traction, and realize the posture optimization control of the robots. The effectiveness of the method was confirmed by experiments.

AB - When wheel-legged mobile robots moved in uneven terrains, three basic non-isolated control problems such as stability control, drive traction control, and posture control were produced. Herein kinematic model with wheel-legged mode was established firstly, which was suitable to describe the robot posture. Then stability and traction functions were addressed. In order to have good adaptability, high maneuverability of negotiation and high locomotion security, coupled optimization function was built and coupled optimization control was realized based on the comprehensive analyses of the stability and traction characteristics, which could supply the coupled optimization criteria for stability and traction, and realize the posture optimization control of the robots. The effectiveness of the method was confirmed by experiments.

KW - Coupled optimization

KW - Drive traction characteristics

KW - Stability

KW - Wheel-legged robot

UR - http://www.scopus.com/inward/record.url?scp=84963628566&partnerID=8YFLogxK

U2 - 10.3969/j.issn.1004-132X.2016.04.001

DO - 10.3969/j.issn.1004-132X.2016.04.001

M3 - Article

AN - SCOPUS:84963628566

SN - 1004-132X

VL - 27

SP - 427

EP - 432

JO - Zhongguo Jixie Gongcheng/China Mechanical Engineering

JF - Zhongguo Jixie Gongcheng/China Mechanical Engineering

IS - 4

ER -

Posture coupled optimization control of wheel-legged robot

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this