Rover control based on an optimal torque distribution - Application to 6 motorized wheels passive rover

The capability to overcome terrain irregularities or obstacles, named terrainability, is mostly dependant on the suspension mechanism of the rover and its control. For a given wheeled robot, the terrainability can be improved by using a sophisticated control, and is somewhat related to minimizing wh...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Krebs, A, Risch, F, Thueer, T, Maye, J, Pradalier, C, Siegwart, R
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Friction Robots Suspensions Torque Torque control Velocity control Wheels
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