4 accepted papers
In this paper, we propose a meaningful definition of rotational centroidal orientation which is somewhat missed in the state-of-the-art centroidal momentum and dynamics theory for locomotion robots with one floating base. This centroidal instantaneous orientation rotates as the robot runs, and it is…
This letter develops a more general dynamics controllerto generate whole-body behaviors fora quadruped-on-wheel robot. To track the quadruped centroidal motion, the wheeled motion is achieved by combining the wheel contact constraints and the centroidal momentum/dynamics model. The dynamics controll
This paper develops a new constrained model predictive control for a dynamic path tracking of an off-road mobile robot with a double steering axle. The controller is based on a dynamic model that includes wheel-ground lateral slippage and terrain geometry parameters. It is formulated as an optimizat…
Generic control of wheel-on-leg robots on arbitrary uneven terrains is a challenging task due to the complexity of the robot dynamics, surface interactions, and environmental structures. This paper deals with the control of a wheel-on-leg robot with passive and active internal compliance that enable…