Towards terrain interaction prediction for bioinspired planetary exploration rovers

Yeomans, B. and Saaj, C. (2014) Towards terrain interaction prediction for bioinspired planetary exploration rovers. Bioinspiration and Biomimetics, 9 (1). ISSN 1748-3182

Full content URL: http://doi.org/10.1088/1748-3182/9/1/016009

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Item Type:Article
Item Status:Live Archive

Abstract

Deployment of a small legged vehicle to extend the reach of future planetary exploration missions is an attractive possibility but little is known about the behaviour of a walking rover on deformable planetary terrain. This paper applies ideas from the developing study of granular materials together with a detailed characterization of the sinkage process to propose and validate a combined model of terrain interaction based on an understanding of the physics and micro mechanics at the granular level. Whilst the model reflects the complexity of interactions expected from a walking rover, common themes emerge which enable the model to be streamlined to the extent that a simple mathematical representation is possible without resorting to numerical methods. Bespoke testing and analysis tools are described which reveal some unexpected conclusions and point the way towards intelligent control and foot geometry techniques to improve thrust generation.

Additional Information:cited By 10
Keywords:planetary exploration rovers, granular materials, terrain interaction
Divisions:College of Science > School of Engineering
ID Code:37401
Deposited On:07 Oct 2019 09:15

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