LARGE OBSTACLE CLEARANCE USING KINEMATIC RECONFIGURABILITY FOR A ROVER WITH AN ACTIVE SUSPENSION

摘要

This paper deals with the clearance capabilities of mobile robots in rough terrain. A way of using kinematic reconfigurability is proposed to allow the crossing of obstacle that would normally be impossible by choosing a configuration that will guaranty static equilibrium. The control uses force control on the legs and try to decrease the internal forces needed to insure stability.