Preview posture control and impact load control of rough terrain vehicle with interconnected suspension

T. Fukuda, X. Zhang, Y. Hasegawa, Takayuki Matsuno, H. Hoshino

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes a new type of rough terrain vehicle with the interconnected suspension expected to be used to demoting action. This interconnected suspension was proposed and based on posture control of rough terrain vehicle. This suspension has 4 leg-cylinders interconnected and by employing 2 AC motors it can control its posture readily. This suspension makes rough terrain vehicle simple in mechanism. By using this kind of interconnected suspension, the rough terrain vehicle can control its posture smoothly when it walks on rough terrain. In order to compensate the response delay time and improve the control system, we use preview control and the effect was proved in our research. The rough terrain vehicle can control its impact load on every wheel with the interconnected suspension. This kind of suspension can distribute impact load among wheels due to interconnecting every leg-cylinder. In our research, the reduction of impact load on vehicle wheels was proved by experiments. By making good use of the advantages of the interconnected suspension, it is possible that the rough terrain vehicle is actually applied to executing some special tasks such as demining action.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages761-766
Number of pages6
Volume1
Publication statusPublished - 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

Fingerprint

Wheels
Vehicle wheels
AC motors
Time delay
Control systems
Experiments

Keywords

  • Interconnected Suspension
  • Load Control
  • Posture Control
  • Preview Control
  • Response Delay

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Fukuda, T., Zhang, X., Hasegawa, Y., Matsuno, T., & Hoshino, H. (2004). Preview posture control and impact load control of rough terrain vehicle with interconnected suspension. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 1, pp. 761-766)

Preview posture control and impact load control of rough terrain vehicle with interconnected suspension. / Fukuda, T.; Zhang, X.; Hasegawa, Y.; Matsuno, Takayuki; Hoshino, H.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 1 2004. p. 761-766.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fukuda, T, Zhang, X, Hasegawa, Y, Matsuno, T & Hoshino, H 2004, Preview posture control and impact load control of rough terrain vehicle with interconnected suspension. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 1, pp. 761-766, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, 9/28/04.
Fukuda T, Zhang X, Hasegawa Y, Matsuno T, Hoshino H. Preview posture control and impact load control of rough terrain vehicle with interconnected suspension. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 1. 2004. p. 761-766
Fukuda, T. ; Zhang, X. ; Hasegawa, Y. ; Matsuno, Takayuki ; Hoshino, H. / Preview posture control and impact load control of rough terrain vehicle with interconnected suspension. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 1 2004. pp. 761-766
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