VSS-based coordinated control of Ice-skater Robot
Abstract：A new type of leg-wheeled hybrid mobile robot, Ice-skater Robot, was developed based on the rolling andskating principle. Then, such coordinated control methods were disccussed as the model reference control method, the algorithmcontrol method and the finite state control method briefly. And the motions in the normal direction and the tangent direction ofthe wheels were analyzed and the kinematic equation, the path-based nonholonomic kinematic state space used in the accelera-tion control were also obtained. At the same time, the switching functions satisfying the sliding mode reachable condition to re-alize the coordination of the wheels, the legs and between the wheels and the legs were designed. The experiment verifies thepracticability of the coordinated control method based on the nonholonomic kinematic state space and the variable structure con-trol with sliding mode method.
Keywords：Ice-skater Robotstate spacevariable structure control with sliding mode (VSS)coordinated control
Publication Date：2003-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 732-736 )