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1. (WO2018042131) COMPLIANT AUTONOMOUS VEHICLE AND METHOD FOR CONTROLLING SAME

Pub. No.:    WO/2018/042131    International Application No.:    PCT/FR2017/052312
Publication Date: Fri Mar 09 00:59:59 CET 2018 International Filing Date: Fri Sep 01 01:59:59 CEST 2017
IPC: B60K 17/32
Applicants: UNIVERSITÉ PIERRE ET MARIE CURIE
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
Inventors: BEN AMAR, Faiz
GRAND, Christophe
BOUTON, Arthur
Title: COMPLIANT AUTONOMOUS VEHICLE AND METHOD FOR CONTROLLING SAME
Abstract:
An autonomous vehicle having a chassis and supporting legs, each of said legs being composed of at least two segments, an upper segment connected to the chassis via a first pivot, and a lower segment carrying a wheel at its lower end and connected to the upper segment by a second pivot; in addition, the lower segment is connected, via two opposing springs, to a pulley rigidly secured to the chassis in order to generate an angular rigidity about an equilibrium position corresponding to an upright orientation of the lower segment; and the upper segment is connected via two other opposing springs, at said first pivot, to a motorised pulley rigidly secured to the chassis and suitable for controlling the moment exerted on the upper segment about a nominal position corresponding to a horizontal orientation of the upper segment, this moment control being determined on the basis of a measurement of a first angle formed by the upper segment relative to its nominal position, a measurement of a second angle formed by the lower segment relative to its equilibrium position, and the trim of the chassis.