{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T16:44:21Z","timestamp":1776962661263,"version":"3.51.4"},"reference-count":14,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,27]],"date-time":"2007-03-27T00:00:00Z","timestamp":1174953600000},"content-version":"vor","delay-in-days":4833,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article addresses the issue of enhancing mobility of actively actuated vehicles by the use of optimal force distribution, and by actively controlling the location of the center of mass of the vehicle body. Force distribution in actively actuated vehicles is an underspecified problem, and optimal force distribution leads to improved contact conditions. Actively actuated vehicles also possess the ability to vary their configuration. This capability can be used to locate the center of mass of the system to further enhance mobility by providing sufficient traction, and ensuring vehicle stability, during difficult vehicle maneuvers. In this work, the general idea of control of the location of the center of mass, followed by optimal force distribution, is addressed first. This is followed by an application of these ideas to Gofor, a simple actively actuated wheeled micro\u2010rover system, that has been designed and fabricated at the Jet Propulsion Laboratory. An algorithm to achieve desired traction and stability has been developed. Simulation studies were performed to investigate negotiation of a vertical surface. It was found that one set of wheels readily climbed the vertical surface with the use of active mass and force distribution. This is a significant improvement over traditional wheeled vehicle systems. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110604","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T15:18:04Z","timestamp":1183735084000},"page":"487-502","source":"Crossref","is-referenced-by-count":92,"title":["Stability and traction control of an actively actuated micro\u2010rover"],"prefix":"10.1002","volume":"11","author":[{"given":"S. V.","family":"Sreenivasan","sequence":"first","affiliation":[]},{"given":"B. H.","family":"Wilcox","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,27]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"K. J.Waldron S. V.Sreenivasan andV.Varadhan \u201cMobility enhancement using active coordination \u201d Proceedings of the Second National Applied Mechanisms and Robotics Conference Cincinnati OH1991."},{"key":"e_1_2_1_3_2","unstructured":"K. J.Waldron V.Kumar andA.Burkat \u201cAn actively coordinated mobility system for a planetary rover \u201d Proceedings of the International Conference of Advanced Robotics Versailles France 1987."},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900203"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"J.Bares et al. \u201cAmbler: An autonomous rover for planetary exploration \u201d IEEE Computer 18\u201326 June1989.","DOI":"10.1109\/2.30717"},{"key":"e_1_2_1_6_2","unstructured":"D.LaveryandR. J.Bedard \u201cNASA planetary rover program \u201d Proceedings of the International Symposium on Artificial Intelligence Robotics and Automation in Space Kobe Japan 1990."},{"key":"e_1_2_1_7_2","unstructured":"J.YuandK. 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