The lander plays an important role in planetary exploration. However, most landers are immoveable and they can only detect at the same location. This paper proposes a novel recovery planning method for the legged mobile lunar lander. First, a legged mobile lunar lander with parallel mechanisms and its buffer structure are introduced. Then, the recovery planning method of the legged mobile lunar lander is addressed. Further, the footholds and body’s pose are optimized to improve the adaptability by minimizing the displacements of the active joints. Finally, simulations are conducted to validate the method and its performance. The results show that the recovery planning and optimization method for the legged mobile lunar lander are effective to rough terrains.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Recovery Planning for the Legged Mobile Lunar Lander


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Xi, Qingxing (Autor:in) / Gao, Feng (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Recovery Planning for the Legged Mobile Lunar Lander

    Xi, Qingxing / Gao, Feng / Zhang, Puzhen et al. | TIBKAT | 2023



    Motion planning for a six-legged Lunar robot

    Hauser, Kris / Bretl, Timothy / Latombe, Jean-Claude et al. | Tema Archiv | 2008


    Design and selection of aluminum foam for impact damper of legged lunar Lander

    Rongqiang Liu, / Changjie Luo, / Zongquan Deng, et al. | IEEE | 2008


    Lunar Lander

    Scholten, Jan | DataCite | 2024