ICRA 2012 Paper Abstract


Paper WeD06.3

Sutoh, Masataku (Tohoku University), Nagaoka, Kenji (Tohoku University), Nagatani, Keiji (Tohoku University), Yoshida, Kazuya (Tohoku University)

Evaluation of Influence of Surface Shape of Locomotion Mechanism on Traveling Performance of Planetary Rovers

Scheduled for presentation during the Regular Session "Space Robotics" (WeD06), Wednesday, May 16, 2012, 17:00−17:15, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 19, 2018

Keywords Space Exploration Rover, Field Robots, Wheeled Robots


The surfaces of both the Moon and Mars are covered with loose soil, with numerous steep slopes along their crater rims. Therefore, one of the most important requirements imposed on planetary rovers is their ability to minimize slippage while climbing steep slopes, i.e., the ability to generate a drawbar pull with only a small amount of slippage. To this end, the wheels/tracks of planetary rovers typically have parallel fins called lugs (i.e., grousers) on their surface. Recent studies have reported that these lugs can substantially improve the traveling performances of planetary rovers. Therefore, in this study, we conducted experiments using lightweight two-wheeled and mono-tracked rovers to provide a quantitative confirmation regarding the influence of lugs on the traveling performances of planetary rovers. Based on our experimental results, we confirmed that, although an increase in the number of lugs contributes to the high traveling performance of wheeled rovers, it does not contribute much to that of tracked rovers. Furthermore, an increase in lug height improves the traveling performances of both types of rovers.



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