The paper is devoted to the trajectory tracking control task for a differentiallydriven vehicle moving on a plane surface under conditions of the persistent skid-slip phenomena. The Vector Field(s) Orientation (VFO) control strategy, presented originally for undisturbed case in [6], has been reformulated here to the new disturbed motion conditions. The extension of the VFO strategy relies on in...

In this paper, we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new “slip-adaptive” strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking pattern. The second strategy for a walk uses a force ...

for the ICRA08 Planetary Rovers Workshop Slip Estimation and Compensation Control for Lunar/Planetary Rovers on Loose Soil Kazuya Yoshida, Keiji Nagatani, Genya Ishigami Dept. of Aerospace Engineering, Tohoku University, Japan Giulio Reina Dept. of Innovation Engineering, University of Salento, Italy For a mobile robot, it is critical to detect and compensate for slippage, especially when drivi...

In this paper, a new cascaded wheel-slip control strategy based on wheel slip and wheel acceleration measurements is presented. This new algorithm is able to stabilize globally and asymptotically the wheel slip around any prescribed setpoint, both in the stable and unstable regions of the tyre.

Slip is defined, in this study, as relative motion between the stump skin and the socket. An excessive amount of slip may lead to abrasive injury, inadequate control over socket position and, ultimately, possible loss of the prosthesis. Conversely, lack of slip may conceivably reflect excessive restraint obtained by too tight a fit; implicit are large stump socket pressures. This study was cond...