3 accepted papers
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on unconsolidated terrain, which reduces traction. This paper presents an integrated navigation and control framework for an LSMR that ensures stability and safety-defined performance on slip-prone terrain by comb
This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (1) guarantee robustness in the presence of uncertainties and disturbances, (2) address the complexities arising from sev…
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot’s heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging because the application primarily involves off-road terrains, whic