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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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.
|Item Type:||Conference or Workshop Item (Paper)|
|Divisions :||Faculty of Engineering and Physical Sciences > Electronic Engineering > Surrey Space Centre|
|Identification Number :||10.1007/978-3-642-23232-9_31|
|Additional Information :||The original publication is available at www.springerlink.com|
|Depositing User :||Symplectic Elements|
|Date Deposited :||16 Apr 2012 11:13|
|Last Modified :||09 Jun 2014 13:22|
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