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Authors: Jean-Luc Paillat 1 ; Philippe Lucidarme 1 and Laurent Hardouin 2

Affiliations: 1 Laboratoire d’Ingénierie des Systèmes Automatisés (LISA), France ; 2 LiLaboratoire d’Ingénierie des Systèmes Automatisés (LISA), France

ISBN: 978-989-674-000-9

Keyword(s): UGV (Unmanned ground vehicle), Variable Geometry Single Tracked Vehicle (VGSTV), Obstacle clearing capabilities, Teleoperation, Stability, Geometric model, Dynamic model.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper introduces an originally designed tracked robot. This robot belongs to the VGSTV (Variable Geometry Single Tracked Vehicle) category. It is equipped with two tracks mounted on an actuated chassis. The first joint is used to articulate the chassis and the second one to keep the tracks tightened. By controlling the chassis joint it becomes possible to adapt the shape of the tracks to the ground and even to release the tracks in order to pass through specific obstacles. A prototype has been build; technical specifications and dynamic model are presented in this paper. Tele-operated experiments have been conducted and have shown that the stability of the robot have to be addressed. We experimented and compared two classical criterions based on the center of mass and on the zero moment point technique. Experimental results are discussed in the case of a staircase clearing.

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Paper citation in several formats:
Paillat J.; Lucidarme P.; Hardouin L. and (2009). VARIABLE GEOMETRY TRACKED UNMANNED GROUNDED VEHICLE - Model, Stability and Experiments.In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 21-28. DOI: 10.5220/0002182000210028

@conference{icinco09,
author={Jean{-}Luc Paillat and Philippe Lucidarme and Laurent Hardouin},
title={VARIABLE GEOMETRY TRACKED UNMANNED GROUNDED VEHICLE - Model, Stability and Experiments},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={21-28},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002182000210028},
isbn={978-989-674-000-9},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - VARIABLE GEOMETRY TRACKED UNMANNED GROUNDED VEHICLE - Model, Stability and Experiments
SN - 978-989-674-000-9
AU - Paillat, J.
AU - Lucidarme, P.
AU - Hardouin, L.
PY - 2009
SP - 21
EP - 28
DO - 10.5220/0002182000210028

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