Action planner of hybrid leg-wheel robots for lunar and planetary exploration

Eric Rohmer, Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

In this paper, we propose an action planning algorithm and its evaluation method based on dynamic simulation for a novel type of hybrid leg-wheel rover for planetary exploration. Hybrid leg-wheel robots are recently receiving a growing interest from the space community to explore planets, since they offer an appropriate solution to gain improved speed and mobility on unstructured terrain. However, in order to fully reach the hybrid mechanism's potential, it is necessary to establish an optimal way to define when to use one over the other locomotion mode, depending on the soil conditions and topology. Even though this step is crucial, little attention has been devoted to this topic by the robotic community. The switching of motion mode, that is either wheel or leg are the actions to be planned, that we are considering in this paper. We aim at generating the safest and the least energy demanding path to reach a point of scientific interest. In order to define the optimal path with the set of switching actions required for the robot to follow it, the authors developed an action planning algorithm and a path evaluation method based on a four steps approach. First, an optimal candidate path on a rough terrain is generated based on topology and specifications' criteria functions. Then switching actions are defined along this path depending on the hybrid robot's performances in each motion mode. The next step is a dynamic simulation of the robot controlled to follow the path. Finally, the path is evaluated based on the energy profile spent by the actuators and calculated by the simulation. Demonstrations for the proposed technique are addressed along with a discussion on characteristics of the candidate path and the energy profile of the robot.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ3902-3907
ページ数6
DOI
出版ステータスPublished - 2008 12 1
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9 222008 9 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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