Evaluation of influence of surface shape of locomotion mechanism on traveling performance of planetary rovers

Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

The surfaces of both the Moon and Mars are covered with loose soil, with numerous steep slopes along their crater rims. Therefore, one of the most important requirements imposed on planetary rovers is their ability to minimize slippage while climbing steep slopes, i.e., the ability to generate a drawbar pull with only a small amount of slippage. To this end, the wheels/tracks of planetary rovers typically have parallel fins called lugs (i.e., grousers) on their surface. Recent studies have reported that these lugs can substantially improve the traveling performances of planetary rovers. Therefore, in this study, we conducted experiments using lightweight two-wheeled and mono-tracked rovers to provide a quantitative confirmation regarding the influence of lugs on the traveling performances of planetary rovers. Based on our experimental results, we confirmed that, although an increase in the number of lugs contributes to the high traveling performance of wheeled rovers, it does not contribute much to that of tracked rovers. Furthermore, an increase in lug height improves the traveling performances of both types of rovers.

本文言語English
ホスト出版物のタイトル2012 IEEE International Conference on Robotics and Automation, ICRA 2012
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3419-3424
ページ数6
ISBN(印刷版)9781467314039
DOI
出版ステータスPublished - 2012 1 1
イベント 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
継続期間: 2012 5 142012 5 18

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
国/地域United States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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