NDLI: Feedback and predictive motion control strategies for the off-road locomotion of the three-wheeled personal vehicle Falcon-III

Content Provider	IEEE Xplore Digital Library
Author	Ickowzcy, E. Aoki, T. Hirose, S.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Japan (Ickowzcy, E.; Hirose, S.) \|\| Department of Advanced Robotics, Chiba Institute of Technology, Tokyo, Japan (Aoki, T.)
Abstract	Falcon-III is a robotic personal vehicle that has been designed for uneven terrain usage. It has a two-degree-of-freedom suspension mechanism that allows the passenger's seat orientation (pitch and roll) to be controlled by actively adjusting the height of its wheels. This paper discusses the motion control of such a vehicle on rough terrain. In particular, we show that a feedback control law that measures the vehicle seat attitude and acts to correct it, aiming at maintaining the horizontal seat posture during the traversing of uneven terrain, is by itself insufficient to provide satisfactory performance on certain types of terrain. Therefore, we propose a predictive motion control strategy, in addition to the feedback control law, that dynamically controls the vehicle suspension in order to facilitate the negotiation of obstacles - the motion executed is somewhat similar to that performed by a cyclist when overcoming a step-like obstacle. When tall step-like obstacles have to be negotiated, it may be necessary to dynamically lift one of the wheels from the ground, in which case a gait pattern emerges.
Starting Page	643
Ending Page	648
File Size	1615467
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980148
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Wheels Suspensions Actuators Attitude control Motion control Joints
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in