Influence evaluation of wheel surface profile on traversability of planetary rovers

Masataku Sutoh, Tsuyoshi Ito, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, the wheels of planetary rovers can get stuck in loose soil, and the exploration mission may fail because of this situation. To avoid slippage and increase the wheels' drawbar pull, the wheels of planetary rovers typically have parallel fins called lugs on their surface. In this study, we conducted experiments using two-wheeled testbeds in a sandbox to provide a quantitative confirmation of the influence of lugs on the traversability of planetary rovers. In this paper, we report the results of the experiments, and discuss the influence of lugs on the traversability of planetary rovers.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages67-72
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Sutoh, M., Ito, T., Nagatani, K., & Yoshida, K. (2010). Influence evaluation of wheel surface profile on traversability of planetary rovers. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 67-72). [5708303] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708303