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30 May 2022 Autonomous stabilization of a variable-geometry robotic platform
Timothy Kleinow, Matt Falconer, Sridhar Lakshmanan, Paul Muench, Oleg Sapunkov
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Proceedings Volume PC12124, Unmanned Systems Technology XXIV; PC1212403 (2022) https://doi.org/10.1117/12.2620768
Event: SPIE Defense + Commercial Sensing, 2022, Orlando, Florida, United States
Abstract
We consider the challenges discovered while transitioning a robot from teleoperated to autonomous. Our platform is a versatile ground robot with variable geometry, changing its width to allow for either increased stability or entry into smaller gaps. This additional articulation presents problems and opportunities with regard to the stability of the platform. We show that control over the track width allows us to maintain stability through the use of relative maximum allowable parameters. As the narrow track width causes the robot to become less stable, to keep the platform stable the system controlling it needs to respect these maximums.
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Timothy Kleinow, Matt Falconer, Sridhar Lakshmanan, Paul Muench, and Oleg Sapunkov "Autonomous stabilization of a variable-geometry robotic platform", Proc. SPIE PC12124, Unmanned Systems Technology XXIV, PC1212403 (30 May 2022); https://doi.org/10.1117/12.2620768
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KEYWORDS
Robotics
Control systems
Unmanned systems
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