Mobile Robotic Systems for Use in Unstructured Terrain
Autonomous and teleoperated mobile platforms which have, so far, been constructed for use in unstructured terrain are of two types. One of these is a platform with wheels or tracks having a passive suspension. The other is a fully terrain adaptive legged locomotion system. However, the use of active coordination of multiple joints makes other configurations feasible, and attractive. A simple example is a wheeled system with an active suspension.
In this paper, unconventional locomotion element configurations will be explored, and a theory for their design to optimize their performance over both small and large amplitude terrain variations will be presented. An important point is that the characteristics desirable in a mobile robotic platform are somewhat different from those desirable in conventional vehicles. Another is that the performance characteristics required of the locomotion system are determined by sensing and computation capabilities of the system, and vice-versa.
KeywordsActive Suspension Conventional Vehicle Passive Suspension Wheel Pair Amplitude Performance
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