The Rocker-Bogie Mobility system was designed to be used at slow speeds. It is capable of overcoming obstacles that are on the order of the size of a wheel. However, when surmounting a sizable obstacle, the vehicles motion effectively stops while the front wheel climbs the obstacle. When operating at low speed (greater than 10cm/second), dynamic shocks are minimized when this happens. For many future planetary missions, rovers will have to operate at human level speeds (∼1m/second) Shocks resulting from the impact of the front wheel against an obstacle could damage the payload or the vehicle. This paper describes a method of driving a rocker-bogie vehicle so that it can effectively step over most obstacles rather than impacting and climbing over them. Most of the benefits of this method can be achieved without any mechanical modification to existing designs - only a change in control strategy. Some mechanical changes are suggested to gather the maximum benefit and to greatly increase the effective operational speed of future rovers.
High-Speed Traversal of Rough Terrain Using a Rocker-Bogie Mobility System
Eighth International Conference on Engineering, Construction, Operation, and Business In Space; Fifth International Conference and Exposition and Demonstration on Robotics for Challenging Situations and Environments ; 2002 ; Albuquerque, New Mexico, United States
Space 2002 and Robotics 2002 ; 428-434
2002-06-07
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
High-Speed Traversal of Rough Terrain Using a Rocker-Bogie Mobility System
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