Design and execution of locomotion plans

Presents a tool for designing locomotion plans and controlling their execution, suited for mobile robots with an extensive set of command and perception primitives. The use of this tool is illustrated by its application to RAMI, a four-tiltable-track robot fitted to a large scope of applications req...

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Bibliographic Details
Main Authors: Potel, F.X., Richard, F., Tournassoud, P.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Computational geometry
Error correction
Measurement errors
Mobile robots
Robot control
Robot sensing systems
Robust control
Robustness
Tracking
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Description
Summary:Presents a tool for designing locomotion plans and controlling their execution, suited for mobile robots with an extensive set of command and perception primitives. The use of this tool is illustrated by its application to RAMI, a four-tiltable-track robot fitted to a large scope of applications requiring high locomotion agility. A discussion of plan robustness follows, based on a locomotion plan example.< >
DOI:10.1109/ICAR.1991.240418