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Traction Control for Two-Wheel Driven Mobile Robot Driving on Ice

Title
Traction Control for Two-Wheel Driven Mobile Robot Driving on Ice
Authors
Choi, Jung HyunOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2018-06-13
Citation
27th IEEE International Symposium on Industrial Electronics, ISIE 2018, 1075-1080
Type
Conference
ISBN
9781538637050
Abstract
In this paper, a traction control for two-wheel driven mobile robot driving on the ice is proposed. The traction control requirements for a special task on the ice is derived from driving scenario of the mobile robot. The important driving requirement of the robot is to satisfy the target velocity within a limited available distance. To realize the special velocity of the robot on the ice, longitudinal velocity control is adopted, and Model Following Control method is adopted to prevent slip on the ice. Effectiveness of the traction control algorithms are verified through several experimental results. © 2018 IEEE.
URI
http://hdl.handle.net/20.500.11750/9309
DOI
10.1109/ISIE.2018.8433648
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
Files:
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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