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Évaluation des modes de déplacement d'un robot à locomotion hybride roue-patte évoluant en milieux naturels
Christophe Grand, Faïz Ben Amar, Frédéric Plumet, Philippe Bidaud
Journal:

Mechanics & Industry / Volume 6 / Issue 3 / May 2005

Published online by Cambridge University Press:

01 July 2005, pp. 353-364

Print publication:

May 2005
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Cet article s'intéresse au problème de l'évaluation des modes de déplacement d'un robot à locomotion hybride roue-patte. Après une brève description du système mécatronique, nous présentons sa modélisation cinémato-statique dont l'originalité repose sur l'intégration des interactions roue-sol en terrains naturels. Les modèles d'interaction sont validés expérimentalement à l'aide d'un banc d'essai spécifique. Les modèles analytiques sont ensuite exploités pour réaliser une analyse comparative des performances de locomotion pour chacun des modes de déplacement sur différents terrains. Les critères considérés sont la marge de stabilité, la gradabilité et la consommation d'énergie.