A computer-controlled active suspension for a wheeled terrain robot
by Kazuo Tani, Seiichi Usui, Eiichi Horiuchi, Nobumasa Shirai, Shinji Hirobe
International Journal of Computer Applications in Technology (IJCAT), Vol. 3, No. 2, 1990

Abstract: The aim of our study is to propose a mechanism and control methods for an active suspension and to experimentally demonstrate its applicability to wheeled terrain robots. We built a one-wheel experimental hardware model which includes a mechanism of the suspension, a direct-drive DC servo motor as the actuator, passive elements such as springs and dampers, sensors, and a computer configuration. We implemented PID control and optimal control. We restricted ourselves to the use of only internal sensors for the control: a potentiometer for the body-axle distance and an accelerometer for the body displacement. Simulations showed that an active suspension enables a vehicle to pass over higher steps than a passive or no suspension.

Online publication date: Wed, 11-Jun-2014

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