Stability Control of an Hybrid Wheel-Legged Robot

For exploration missions with autonomous robotic systems, one of the most important goal of any control system is to ensure the vehicle integrity. In this paper, the control scheme of an hybrid wheel-legged robot is presented. This scheme uses artificial potential field for the on-line stability control of the vehicle. First, the principle of this method is outlined and, then, simulation results in 2-D are presented.