Posture control of a dual-crawler-driven robot
Document Type
Conference Proceeding
Publication Date
11-2-2009
Abstract
This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted.In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.© 2009 IEEE.
Publication Source (Journal or Book title)
Proceedings - IEEE International Conference on Robotics and Automation
First Page
2977
Last Page
2982
Recommended Citation
Quan, Q., Ma, S., Li, B., & Liu, R. (2009). Posture control of a dual-crawler-driven robot. Proceedings - IEEE International Conference on Robotics and Automation, 2977-2982. https://doi.org/10.1109/ROBOT.2009.5152784