Experimental study of grouser's effect for planetary rovers based on terramechanics

Yuto Nakane, Kojiro Iizuka, Takashi Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the future, the planetary exploration missions, planetary robots are required to traverse over very rough terrain. On the lunar surface and Mars surface, there are covered with loose soil, namely "Regolith". The reason why the wheel is easy to occur the poor condition during traverse on loose soil is not yet clear in detail. We use Terramechanics model for analyzing the mechanism of slipping and sinking behavior. Terramechanics model which is widely used as locomotion model for some lunar rovers is applicable to only circular wheel. So, it is not easy to apply to wheel with grousers. Therefore, firstly, we simulated the conventional model to confirm the defference between the wheel without grousers and with grousers. Secondly, we carry out the running experiments using the rigid circular wheel (with and without grousers) to compare with simulation results. From these results, we consider the difference between the conventional model and the real wheel's model.

Original languageEnglish
Title of host publicationAn Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications
PublisherSpringer Verlag
Pages641-652
Number of pages12
Volume208 AISC
ISBN (Print)9783642373732
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012 - Gwangju, Korea, Republic of
Duration: 2012 Dec 162012 Dec 18

Publication series

NameAdvances in Intelligent Systems and Computing
Volume208 AISC
ISSN (Print)21945357

Other

Other1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012
CountryKorea, Republic of
CityGwangju
Period12/12/1612/12/18

Fingerprint

Wheels
Soils
Robots
Experiments

ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

Cite this

Nakane, Y., Iizuka, K., & Kubota, T. (2013). Experimental study of grouser's effect for planetary rovers based on terramechanics. In An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications (Vol. 208 AISC, pp. 641-652). (Advances in Intelligent Systems and Computing; Vol. 208 AISC). Springer Verlag. https://doi.org/10.1007/978-3-642-37374-9_61

Experimental study of grouser's effect for planetary rovers based on terramechanics. / Nakane, Yuto; Iizuka, Kojiro; Kubota, Takashi.

An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications. Vol. 208 AISC Springer Verlag, 2013. p. 641-652 (Advances in Intelligent Systems and Computing; Vol. 208 AISC).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakane, Y, Iizuka, K & Kubota, T 2013, Experimental study of grouser's effect for planetary rovers based on terramechanics. in An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications. vol. 208 AISC, Advances in Intelligent Systems and Computing, vol. 208 AISC, Springer Verlag, pp. 641-652, 1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012, Gwangju, Korea, Republic of, 12/12/16. https://doi.org/10.1007/978-3-642-37374-9_61
Nakane Y, Iizuka K, Kubota T. Experimental study of grouser's effect for planetary rovers based on terramechanics. In An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications. Vol. 208 AISC. Springer Verlag. 2013. p. 641-652. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-642-37374-9_61
Nakane, Yuto ; Iizuka, Kojiro ; Kubota, Takashi. / Experimental study of grouser's effect for planetary rovers based on terramechanics. An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications. Vol. 208 AISC Springer Verlag, 2013. pp. 641-652 (Advances in Intelligent Systems and Computing).
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