Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimize the required friction which is an importan...

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Hauptverfasser: Thueer, T., Krebs, A., Siegwart, R.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
All-Terrain Robots
Analytical models
Friction
Intelligent robots
Locomotion Systems
Measurement
Mobile robots
NASA
Orbital robotics
Remotely operated vehicles
Robot Design
Rover
Space Robotics
Wheels
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Krebs, A.
Siegwart, R.
description Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimize the required friction which is an important performance metric. The evaluation comprises well known rover concepts and new suspension systems. The performance of the systems is compared and interesting effects of some concepts are discussed in more detail including torques and load distribution. The rovers MER (NASA) and CRAB (EPFL) show good performance which is topped only by the eight wheeled DoubleSpring system
doi_str_mv 10.1109/IROS.2006.281954
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subjects Actuators
All-Terrain Robots
Analytical models
Friction
Intelligent robots
Locomotion Systems
Measurement
Mobile robots
NASA
Orbital robotics
Remotely operated vehicles
Robot Design
Rover
Space Robotics
Wheels
title Comprehensive Locomotion Performance Evaluation of All-Terrain Robots
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