This paper deals with the optimization of locomotion performances of vehicle used for planetary exploration. The design of an innovative reconfigurable mini-rover is presented. Then, a control process that optimize the stability and the global traction performances is developed. A method to identify in-situ the wheel-ground mechanical contact properties is proposed and used to determine an optimal traction torque. Results on experiments and simulations show that the rover stability is significantly enhanced by using the proposed control method.


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    Titel :

    Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover


    Beteiligte:

    Kongress:

    Unmanned Ground Vehicle Technology IV ; 2002 ; Orlando,FL,United States


    Erschienen in:

    Erscheinungsdatum :

    17.07.2002





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch