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.


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    Title :

    Recovery Planning for the Legged Mobile Lunar Lander


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Xi, Qingxing (author) / Gao, Feng (author)

    Conference:

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



    Publication date :

    2023-10-16


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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