Preview posture control and impact load control of rough terrain vehicle with interconnected suspension

T. Fukuda, X. Zhang, Y. Hasegawa, T. Matsuno, H. Hoshino

研究成果

2 被引用数 (Scopus)

抄録

This paper proposes a new type of rough terrain vehicle with the interconnected suspension expected to be used to demoting action. This interconnected suspension was proposed and based on posture control of rough terrain vehicle. This suspension has 4 leg-cylinders interconnected and by employing 2 AC motors it can control its posture readily. This suspension makes rough terrain vehicle simple in mechanism. By using this kind of interconnected suspension, the rough terrain vehicle can control its posture smoothly when it walks on rough terrain. In order to compensate the response delay time and improve the control system, we use preview control and the effect was proved in our research. The rough terrain vehicle can control its impact load on every wheel with the interconnected suspension. This kind of suspension can distribute impact load among wheels due to interconnecting every leg-cylinder. In our research, the reduction of impact load on vehicle wheels was proved by experiments. By making good use of the advantages of the interconnected suspension, it is possible that the rough terrain vehicle is actually applied to executing some special tasks such as demining action.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ761-766
ページ数6
出版ステータスPublished - 2004
外部発表はい
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
継続期間: 9月 28 200410月 2 2004

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
1

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
国/地域Japan
CitySendai
Period9/28/0410/2/04

ASJC Scopus subject areas

  • 工学一般

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