ICRA 2012 Paper Abstract


Paper WeD06.2

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

Evaluation of the Reconfiguration Effects of Planetary Rovers on their Lateral Traversing of Sandy Slopes

Scheduled for presentation during the Regular Session "Space Robotics" (WeD06), Wednesday, May 16, 2012, 16:45−17:00, 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 20, 2018

Keywords Space Exploration Rover, Field Robots, Wheeled Robots


Rovers that are used to explore craters on the Moon or Mars require the mobility to negotiate sandy slopes, on which slippage can easily occur. Such slippage can be reduced by actively readjusting the attitude of the rovers. By changing attitude, rovers can modify the position of their center of gravity and the wheel-soil contact angle. In this study, we discuss the effects of attitude changes on downhill sideslip based on the slope failure mechanism and experiments on reconfiguring the rover attitude and wheel angles. We conducted slope-traversing experiments using a wheeled rover under various roll angles and wheel angles. The experimental results show that the contact angle between wheels and slopes has a dominant influence on sideslip when compared with that of readjusting the rover's center of gravity.



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