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Walking Rover Trafficability - Presenting a Comprehensive Analysis and Prediction Tool

Yeomans, B and Saaj, CM Walking Rover Trafficability - Presenting a Comprehensive Analysis and Prediction Tool In: TAROS 2011: 12th Conference Towards Autonomous Robotic Systems, 2011-08-31 - 2011-09-02, Sheffield, UK.

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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 tracability 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 tracability and highlights some potential benets from deploying micro-legged rovers for future surface exploration missions.

Item Type: Conference or Workshop Item (Paper)
Additional Information: The original publication is available at www.springerlink.com
Divisions: Faculty of Engineering and Physical Sciences > Electronic Engineering > Surrey Space Centre
Depositing User: Symplectic Elements
Date Deposited: 16 Apr 2012 11:13
Last Modified: 23 Sep 2013 18:54
URI: http://epubs.surrey.ac.uk/id/eprint/27659

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