Body Posture Controller for Actively Articulated Tracked Vehicles Moving Over Rough and Unknown Terrains
Filipe Rocha,Andre Cid,Mário Delunardo,Renato P. Junior,Nilton S Thiago,Luiz Barros,Jacó D. Domingues,Gustavo Pessin,Gustavo Freitas,Ramon Costa,Filipe Rocha,Andre Cid,Mário Delunardo,Renato P. Junior,Nilton S Thiago,Luiz Barros,Jacó D. Domingues,Gustavo Pessin,Gustavo Freitas,Ramon Costa
Terrestrial mobile robots face diverse topographies while in field missions. Rough terrains cause the platform to oscillate, which is undesirable for some tasks. Robotic platforms with active tracked flippers can use such mechanisms to reach and maintain a leveled configuration while halted or moving. Thus, this work presents a posture controller that regulates the robot's orientation and contact ...
