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http://dx.doi.org/10.5302/J.ICROS.2006.12.2.161

Studies of Lateral Impedance Force Control for an Autonomous Mobile Robot with Slip  

Hsia T. C. (캘리포니아대학교 전기컴퓨터공학부)
Jung Seul (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.2, 2006 , pp. 161-167 More about this Journal
Abstract
In this paper, lateral force control of a mobile robot with slip is presented. First, the bicycle model of a mobile robot is derived for the front steering. Second, impedance force control algorithm is applied to regulate contact force with environment. The desired distance is specified conservatively inside the environment to guarantee to make contact. Different stiffness of environment has been tested for force tracking task. Simulation results show that the proposed control algorithm works well to maintain desired contact force on the environment.
Keywords
lateral control; impedance force control; mobile robot;
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