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Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos

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4 Author(s)
Ch. Grand ; Laboratoire de Robotique de Paris ; F. BenAmar ; F. Plumet ; Ph. Bidaud

This paper addresses the control of a hybrid wheel-legged system evolving on rough terrain. First, the posture and trajectory parameters are introduced. Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, the performance and feasibility of the control algorithm are evaluated through simulations and experiments with the Hylos robot.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

April 26 2004-May 1 2004