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Model-based coupling for co-simulation of robotic contact tasks
(IEEE, 2020-10)
[Abstract]
Co-simulation of complex robotic systems allows the different components to be modelled and simulated independently using methods and tools tailored to their nature and time-scale, which makes the implementation ...
Performance indicators for wheeled robots traversing obstacles
(2020-04)
[Abstract] An important element of wheeled robot operations on uneven and unstructured terrain is the ability to overcome obstacles. In this letter, we deal with a part of this obstacle negotiation problem. We particularly ...
Effect of gravity in wheel/terrain interaction models
(2020)
[Abstract] Predicting the motion of wheeled robots in unstructured environments is an important and challenging problem. The study of planetary exploration rovers on soft terrain introduces the additional need to consider ...