Walking rover trafficability - Presenting a comprehensive analysis and prediction tool

Yeomans, B. and Saaj, C. (2011) Walking rover trafficability - Presenting a comprehensive analysis and prediction tool. In: Conference Towards Autonomous Robotic Systems, 31st August – 2nd September 2011., Sheffield, UK.

Full content URL: http://doi.org/10.1007/978-3-642-23232-9_31

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

Although walking rovers perform well in rocky terrain, their performance over sands and other deformable materials has not been well studied. A better understanding of walking rover terramechanics will be essential if they are to be actually deployed on a space mission.

This paper presents a comprehensive walking rover terramechanics model incorporating slip and sinkage dependencies. In addition to quantifying the leg / soil forces, the superior trafficability potential of a walking rover in deformable terrain is demonstrated, and a control approach is described which can reduce the risk inherent in traversing soils with unknown physical parameters. This work enhances the state of the art of legged rover trafficability and highlights some potential benefits from deploying micro-legged rovers for future surface exploration missions.

Additional Information:cited By 0
Keywords:walking rover, terrain, trafficability, terramechanics, control
Divisions:College of Science > School of Engineering
ID Code:37404
Deposited On:07 Oct 2019 09:20

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