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.
Recovery Planning for the Legged Mobile Lunar Lander
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Legged mobile lunar lander , Recovery planning , Optimization , Gait planning Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
Recovery Planning for the Legged Mobile Lunar Lander
TIBKAT | 2023
|Investigation on soft-landing dynamics of four-legged lunar lander
Online Contents | 2014
|Motion planning for a six-legged Lunar robot
Tema Archive | 2008
|DataCite | 2024
|