Decoupled control of the high mobility robot Hylos based on a dynamic stability margin

This paper concerns the control of an autonomous high mobility wheel-legged rover crossing uneven terrains. A new control strategy, using active redundancies of the robot, leads to elaborate a posture control based on the potential field approach of the stability measurement. Then a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, simulation results showing performance of the control algorithm are presented.