Abstract
Data detailed on Robotics have been presented. According to news reporting originating in Beijing, People’s Republic of China, by NewsRx editors, the research stated, “This work presents a dynamic posture tracking control strategy for wheel-legged systems on uneven surfaces. Based on the kinematic model of a wheel-legged robotic system, the expected positions for the end-effectors of wheellegs are calculated according to posture references and sensor feedback.” Funders for this research include National Key Research and Development Project of China, National Natural Science Foundation of China (NSFC). The news reporters obtained a quote from the research from the Beijing Institute of Technology, “The position control problem for a general wheel-leg is investigated for the active mechanism to imitate a passive suspension and respond to the external contact forces. The position tracking accuracy of the wheel-leg is sacrificed to enhance the compliance performance under rough terrain. Because of the unique contact state with the uneven ground for each wheel-leg, the position responses are different. As a result, the forces from the wheel-legs to the fuselage are inconsistent, which leads to the risk of posture oscillations. Equipping the wheel-legs with an undirected communication network, a consensus scheme for the robotic system is developed with proven global asymptotic stability to improve the posture tracking property. A novel robotic system is established with Stewart-structured wheel-legs, which are connected by a user datagram protocol network.”
NETL
NSTL
Elsevier