{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T17:55:55Z","timestamp":1770486955840,"version":"3.49.0"},"reference-count":12,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2015,9,1]],"date-time":"2015-09-01T00:00:00Z","timestamp":1441065600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,2]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper discusses the development of an optimal wheel-torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and minimize power consumption. In this work, an optimal wheel-torque controller is proposed that minimizes the traction-to-normal force ratios of all the wheels at every instant of its motion. This ensures that, at every wheel, the least traction force per unit normal force is applied to maintain static stability and desired wheel speed. The lower this is, in comparison to the actual friction coefficient of the wheel-ground interface, the more margin of slip-free motion the robot can have. This formalism best exploits the redundancy offered by a modularly designed robot. This is the key novelty of this work. Extensive numerical and experimental studies were carried out to validate this controller. The robot was tested on four different surfaces and we report an overall average slip reduction of 44% and mean wheel-torque reduction by 16%.<\/jats:p>","DOI":"10.1017\/s0263574715000685","type":"journal-article","created":{"date-parts":[[2015,9,1]],"date-time":"2015-09-01T07:08:12Z","timestamp":1441091292000},"page":"463-482","source":"Crossref","is-referenced-by-count":12,"title":["An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization"],"prefix":"10.1017","volume":"35","author":[{"given":"Avinash","family":"Siravuru","sequence":"first","affiliation":[]},{"given":"Suril V.","family":"Shah","sequence":"additional","affiliation":[]},{"given":"K. Madhava","family":"Krishna","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,9,1]]},"reference":[{"key":"S0263574715000685_ref6","unstructured":"T. Thueer , P. Lamon , A. Krebs and R. Siegwart , \u201cCrab-exploration Rover with Advanced Obstacle Negotiation Capabilities,\u201d Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), Noordwijk, The Netherlands (2006)."},{"key":"S0263574715000685_ref5","doi-asserted-by":"crossref","unstructured":"P. Lamon and R. Siegwart , \u201cWheel Torque Control in Rough Terrain-Modeling and Simulation,\u201d IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain (2005).","DOI":"10.1109\/ROBOT.2005.1570226"},{"key":"S0263574715000685_ref12","doi-asserted-by":"crossref","unstructured":"A. Krebs , T. Thueer , S. Michaud and R. Siegwart , \u201cPerformance Optimization of All-Terrain Robots: A 2d Quasi-Static Tool,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China (2006).","DOI":"10.1109\/IROS.2006.281955"},{"key":"S0263574715000685_ref9","unstructured":"B. Xu , C. Pradalier , A. Krebs , R. Siegwart and F. Sun , \u201cComposite Control Based on Optimal Torque Control and Adaptive Kriging Control for the Crab Rover,\u201d IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China (2011)."},{"key":"S0263574715000685_ref7","unstructured":"A. Krebs , T. Thueer , E. Carrasco and R. Siegwart , \u201cTowards Torque Control of the Crab Rover,\u201d Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Los Angeles, USA (2008)."},{"key":"S0263574715000685_ref2","doi-asserted-by":"crossref","unstructured":"S. Avinash , A. Srivastava , A. Purohit , S. V. Shah and K. M. Krishna , \u201cA Compliant Multi-Module Robot for Climbing Big Step-Like Pbstacles,\u201d IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China (2014).","DOI":"10.1109\/ICRA.2014.6907348"},{"key":"S0263574715000685_ref1","unstructured":"D. Apostolopoulos , \u201cAnalytic configuration of wheeled robotic locomotion,\u201d Carnegie Mellon University (2001)."},{"key":"S0263574715000685_ref4","doi-asserted-by":"crossref","unstructured":"P. Lamon , A. Krebs , M. Lauria , R. Siegwart and S. Shooter , \u201cWheel Torque Control for a Rough Terrain Rover,\u201d IEEE International Conference on Robotics and Automation (ICRA), New Orleans, USA (2004).","DOI":"10.1109\/ROBOT.2004.1302456"},{"key":"S0263574715000685_ref11","first-page":"333","article-title":"An innovative space rover with extended climbing abilities","volume":"2000","author":"Estier","year":"2000","journal-title":"Proc. Space Robot."},{"key":"S0263574715000685_ref3","unstructured":"S. Avinash , S. V. Shah and K. Madhava Krishna , \u201cWheel Torque Optimization for a Compliant Modular Robot,\u201d National Conference on Machines and Mechanisms (NaCoMM), Roorkee, India (2013)."},{"key":"S0263574715000685_ref10","doi-asserted-by":"crossref","unstructured":"K. Turker , I. Sharf and M. Trentini , \u201cStep Negotiation with Wheel Traction: A Strategy for a Wheel-Legged Robot,\u201d IEEE International Conference on Robotics and Automation (ICRA), St. Paul, USA (2012).","DOI":"10.1109\/ICRA.2012.6224645"},{"key":"S0263574715000685_ref8","doi-asserted-by":"crossref","unstructured":"A. Krebs , F. Risch , T. Thueer , J. Maye , C. Pradalier and R. Siegwart , \u201cRover Control Based on an Optimal Torque Distribution-Application to 6 Motorized Wheels Passive Rover,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan (2010).","DOI":"10.1109\/IROS.2010.5653707"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574715000685","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,18]],"date-time":"2019-04-18T03:49:13Z","timestamp":1555559353000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574715000685\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,9,1]]},"references-count":12,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2017,2]]}},"alternative-id":["S0263574715000685"],"URL":"https:\/\/doi.org\/10.1017\/s0263574715000685","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,9,1]]}}}