Posture Control of a Dual-crawler-driven Robot
文献类型：会议论文
| 作者 | Quan, Qiquan; Ma SG(马书根) ; Li B(李斌); Liu RQ(刘荣强)
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| 出版日期 | 2009 |
| 会议名称 | IEEE International Conference on Robotics and Automation |
| 会议日期 | May 12-17, 2009 |
| 会议地点 | Kobe, JAPAN |
| 页码 | 2977-2982 |
| 通讯作者 | Quan, Qiquan |
| 中文摘要 | This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE |
| 会议录 | ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISSN号 | 1050-4729 |
| ISBN号 | 978-1-4244-2788-8 |
| WOS记录号 | WOS:000276080401300 |
| 源URL | [http://ir.sia.cn/handle/173321/19872]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Quan, Qiquan,Ma SG,Li B,et al. Posture Control of a Dual-crawler-driven Robot[C]. 见:IEEE International Conference on Robotics and Automation. Kobe, JAPAN. May 12-17, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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