Intelligent Mobility for Dynamic Behaviours of PAW, a Hybrid Wheeled-Leg Robot: Robot Design and Control Algorithm Development for Wheeled Mobility Behaviours

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Authors
  1. Trentini, M.
  2. Smith, J.A.
  3. Sharf, I.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN);MCGILL UNIV, MONTREAL QUE (CAN) CENTRE FOR INTELLIGENT MACHINES
Abstract
This paper discusses current wheeled mobility research on a hybrid wheeled-leg robot called PAW. In addition to providing design details, controllers for wheeled modes of locomotion including inclined turning and sprawled braking are presented. These controllers are designed to take advantage of the hybrid nature of the platform to enhance the wheeled behaviour stability and locomotive performance of the robot. Experimental results are presented and discussed. Four basic results have been obtained, including a maximum cruising speed, an operational range, initial turning tests, and a demonstration of a sprawled rolling and braking posture. Power consumption values for a number of its basic behaviours are also presented.

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Report Number
DRDC-SUFFIELD-TM-2005-203 — Technical Memorandum
Date of publication
01 Dec 2005
Number of Pages
28
DSTKIM No
CA026919
CANDIS No
524916
Format(s):
CD ROM

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