The authors introduce a framework and prospective solutions for intelligent locomotion, defined as the ability for a mobile robot to cross over obstacles along a path roughly determined either through teleoperation or by a navigation path-finder. Then, they present a simple but efficient control scheme derived from these concepts, taking into account ground clearance, vehicle safety, and possible occlusions in the vision field. This control scheme is applied to Rami, a four-tiltable-track robot equipped with force sensors, an inertial reference system, a laser-stripe range finder, and extensive real-time computing facilities based on a decentralized architecture.<>


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    Title :

    Locomotion of an all-terrain mobile robot


    Contributors:


    Publication date :

    1992-01-01


    Size :

    544671 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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