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cs.RO2020
Coordinated Motion Control and Event-based Obstacle-crossing for Four Wheel-leg Independent Motor-driven Robotic System via MPC
Dongchen Liu, Junzheng Wang, Shoukun Wang
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC)…
cs.RO2020
Posture Adjustment for a Wheel-legged Robotic System via Leg Force Control with Prescribed Transient Performance
Dongchen Liu, Junzheng Wang, Shoukun Wang +3
This work proposes a force control strategy with prescribed transient performance for the legs of a wheel-legged robotic system to realize the posture adjustment on uneven roads. A…