ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.18

Xu, Bin (ETH Zurich, THU), Pradalier, Cedric (ETH Zurich), Krebs, Ambroise (Swiss Federal Institute of Technology Zürich (ETHZ)), Siegwart, Roland (ETH Zurich), Sun, Fuchun (Tsinghua University)

Composite Control Based on Optimal Torque Control and Adaptive Kriging Control for the CRAB Rover

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Robust/Adaptive Control of Robotic Systems, Space Exploration Rover, Force and Tactile Sensing


Terrainability is mostly dependant on the suspension mechanism and the control of a space rover. For the six wheeled CRAB rover, this paper presents the composite control design with torque control and adaptive Kriging control to improve the terrainability, somewhat related to minimizing wheel slip. As CRAB is moving slowly, the torque control is processed by minimizing the variance of the required friction coefficient based on the static model. Adaptive Kriging control is used to track the commanded velocity. The system uncertainty is compensated by Kriging estimation based on the velocity dynamics. Experiment results with two different tires show the effectiveness of the control scheme.



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