Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain |
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Authors: | Karl Iagnemma Adam Rzepniewski Steven Dubowsky Paul Schenker |
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Affiliation: | (1) Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA;(2) Science and Technology Development Section, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA |
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Abstract: | Future robotic vehicles will perform challenging tasks in rough terrain, such as planetary exploration and military missions. Rovers with actively articulated suspensions can improve rough-terrain mobility by repositioning their center of mass. This paper presents a method to control actively articulated suspensions to enhance rover tipover stability. A stability metric is defined using a quasi-static model, and optimized on-line. The method relies on estimation of wheel-terrain contact angles. An algorithm for estimating wheel-terrain contact angles from simple on-board sensors is developed. Simulation and experimental results are presented for the Jet Propulsion Laboratory Sample Return Rover that show the control method yields substantially improved stability in rough-terrain. |
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Keywords: | mobile robots articulated suspension robot control rough terrain vehicle mobility |
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