Parameters uncertainty analysis of posture control of a four-wheel-legged robot with series slow active suspension system
Mechanism and Machine Theory（2022）
摘要
•A novel four wheel-legged robot with series slow active suspension is proposed.•An 11 DOF dynamic model and the ISMC controller are presented.•Posture control performance and robustness are improved.
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关键词
Wheel-legged robot,Posture control,Parameters uncertainty,Series slow active suspension system
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