Hybrid Legged-Wheeled Robot Path Following: A Realistic Simulation Approach

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2022

Autores

Pinto, VH (Autor) FEUP; Soares, IN (Autor) Outra; Ribeiro, F (Autor) Outra; Lima, J (Autor) Outra; Goncalves, J (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP

Ata de Conferência Internacional

Título: CONTROLO 2022

Páginas: 61-72

15th APCA International Conference on Automatic Control and Soft Computing (CONTROLO)

Caparica, PORTUGAL, JUL 06-08, 2022

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-00W-SQ7

DOI: 10.1007/978-3-031-10047-5_6

Abstract (EN): Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged-wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12