Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude...

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Bibliographic Details
Main Authors: Kang Xu, Jianyong Li, Jinge Si, Yueming Liu, Meng Nie
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Machines
Subjects:
stability control
terrain sensing
novel wheeled robotic system
rough terrain
Online Access:https://www.mdpi.com/2075-1702/11/6/650

Internet

https://www.mdpi.com/2075-1702/11/6/650

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