Year: 2024
Type: article
Abstract: ABSTRACT This paper presents a novel wheeled robot with adaptive suspensions to maintain a stable body posture when driving uneven roads. Each robot suspension is driven by a brushless geared motor, eliminating the traditional mechanical shock absorber. We design a virtual spring‐damping system using force control to solve the problem of uneven support and high‐frequency oscillation on four wheels. Subsequently, we incorporated a flexible posture control that uses the chassis posture as feedback and linearized the control to improve the dynamic response. Finally, the prototype is experimented on a simulated road and verified that the prototype and the proposed control algorithm can realize the expected requirements.
Source: Journal of Field Robotics
DOI: 10.1002/rob.22450
Authors: Tianxiang Lan, Guotian Yang
Institution: North China Electric Power University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W4403318432