Unified Chassis Control for the Improvement of Agility, Maneuverability, and Lateral Stability

Cho, Wanki; Choi, Jin Sik; Kim, Chongkap; Choi, Seibum B.; Yi, Kyongsu

doi:10.1109/tvt.2012.2183152

Cited by 88 publications

(48 citation statements)

References 11 publications

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“…Following the tradition of the more mature aircraft [40], aquatic [34], and wheeled [41] vehicle literatures (wherein variously dimensioned agility and maneuverability measures are introduced for di↵erent purposes and at di↵erent operating points), we explore the utility of a dimensional measure (m 2 /s 2 ) that at the very least proves useful for comparing legged leaps from rest of di↵erent machines. Given its (rough) invariance across animal leaping maneuvers, this measure may also have relevance for probing biological energetics.…”

Section: Discussionmentioning

confidence: 99%

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Towards a Comparative Measure of Legged Agility

Duperret

Kenneally

Pusey

et al. 2015

Experimental Robotics

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We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping-from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine. Abstract. We introduce an agility measure enabling the comparison of two very di↵erent leaping-from-rest transitions by two comparably powered but morphologically di↵erent legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leapingfrom-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a su ciently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine. Disciplines Electrical and Computer Engineering | Engineering | Systems Engineering

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Section: Discussionmentioning

confidence: 99%

“…cars [42,43,41] or boats [34]) or aerial (e.g. jets [40,34,[44][45][46][47]) phase -or even against legged platforms whose limbed manipulation of inertia or momentum in flight significantly enhances their terrestrial locomotory prowess [11].…”

Section: Discussionmentioning

confidence: 99%

Towards a Comparative Measure of Legged Agility

Duperret

Kenneally

Pusey

et al. 2015

Experimental Robotics

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“…The reduction of side slip angle was comparable for both systems (ESC and the AFS/ESC integration). Further advancement of this method is discussed in [29], where the coordination of AFS/ESC is subjected to the optimization procedure applied to six active tyre forces: lateral forces for four tyres each and longitudinal forces for two front tyres). The shares of the AFS/ESC systems in the formulation of the total control demand are computed depending on the cost function, an equality constraints for the reference yaw moment and inequality constraints for the performance limits of tyres and the brake-based ESC actuators.…”

Section: A Integration Of the Active Steering And Brake-based/torquementioning

confidence: 99%

Systematization of Integrated Motion Control of Ground Vehicles

Ivanov

Savitski²

2015

IEEE Access

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This paper gives an extended analysis of automotive control systems as components of the integrated motion control (IMC). The cooperation of various chassis and powertrain systems is discussed from a viewpoint of improvement of vehicle performance in relation to longitudinal, lateral, and vertical motion dynamics. The classification of IMC systems is proposed. Particular attention is placed on the architecture and methods of subsystems integration.

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“…This feature allows the implementation of yaw stability control [29,30] using a simple strategy to estimate the sideslip angle [31].…”

Section: Electric Traction Systemmentioning

confidence: 99%

Simulation of Electric Vehicles Combining Structural and Functional Approaches

Silva¹,

Magallán²,

Barrera³

et al. 2014

Journal of Electrical Engineering and Technology

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-In this paper the construction of a model that represents the behavior of an Electric Vehicle is described. Both the mechanical and the electric traction systems are represented using Multi-Bond Graph structural approach suited to model large scale physical systems. Then the model of the controllers, represented with a functional approach, is included giving rise to an integrated model which exploits the advantages of both approaches. Simulation and experimental results are aimed to illustrate the electromechanical interaction and to validate the proposal.

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Unified Chassis Control for the Improvement of Agility, Maneuverability, and Lateral Stability

Cited by 88 publications

References 11 publications

Towards a Comparative Measure of Legged Agility

Towards a Comparative Measure of Legged Agility

Systematization of Integrated Motion Control of Ground Vehicles

Simulation of Electric Vehicles Combining Structural and Functional Approaches

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