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Controlling an Actively Articulated Suspension Vehicle for Mobility in Rough Terrain

Sanan, Siddharth and Singh, Sarthj and Madhava Krishna, K (2007) Controlling an Actively Articulated Suspension Vehicle for Mobility in Rough Terrain. In: 10th International Conference on Climbing and Walking Robots (CLAWAR 2007), Jul. 16-18,2007, Singapore.

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Abstract

This paper studies the problem of traversing a rough terrain by wheeled vehicles. The criterion for mobility of a wheeled vehicle in any terrain is formally developed, providing insights into the mechanical structure requirements of the vehicle. A vehicle structure with an actively articulated suspension is found as a solution to improved rough terrain mobility. The contact forces of the vehicle with the surface being traversed are identified as the critical factor in determining the traversability of the surface. Hence a control strategy involving the control of the contact forces (normal and traction) is proposed. The key feature of the locomotion strategy, thus, developed is that it provides a solution for mobility in terrain which cannot be traversed using a solution involving assumptions that ignore the dynamics of the main body of the vehicle

Item Type: Conference Paper
Additional Information: Copyright of this article belongs to World Scientific Publishing.
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 11 Mar 2009 09:01
Last Modified: 11 Mar 2009 09:32
URI: http://eprints.iisc.ernet.in/id/eprint/18796

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