An innovative off-road wheeled mobile robot ,named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a perfomance. the robot is equipped with tilt sensors and tactile wheels. The sophisticated locomotion mechanism of octopus has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized).
A two dimentional static model and a controller are proposed. The inputs of the controller are the contact points with ground, the geometric angles of the articulations, and the direction of the gravity field. The output of the controller are the torquest for the wheels, the torques for forearms, and the position set point for the body. For read more see here
January 11, 2010
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