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Hybrid legged-wheeled robot path following: a realistic simulation approach

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Resumo: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.
Autores principais:Pinto, Vítor H.
Outros Autores:Soares, Inês N.; Ribeiro, Francisco; Lima, José; Gonçalves, José; Costa, Paulo Gomes da
Assunto:Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms
Ano:2022
País:Portugal
Tipo de documento:comunicação em conferência
Tipo de acesso:acesso restrito
Instituição associada:Instituto Politécnico de Bragança
Idioma:inglês
Origem:Biblioteca Digital do IPB

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