Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. , quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented together with a method for selecting the optimal torques considering the system constraints: maximal and minimal torques, positive normal forces. The aim of this method is to limit wheel slip and to improve climbing capabilities. The modeling and the optimization are applied to the Shrimp rover.
['Pierre Lamon', 'Ambroise Krebs', 'M. Lauria', 'Steven B. Shooter', 'Roland Siegwart']
I am writing a research paper on a idea Wheel torque control for a rough terrain rover
[{"from": "human", "value": "I am writing a research paper on a idea Wheel torque control for a rough terrain rover"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don\u2019t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. , quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented together with a method for selecting the optimal torques considering the system constraints: maximal and minimal torques, positive normal forces. The aim of this method is to limit wheel slip and to improve climbing capabilities. The modeling and the optimization are applied to the Shrimp rover."}]