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

Yuto Nakane, Kojiro Iizuka, Takashi Kubota

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルAn Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications
出版社Springer Verlag
ページ641-652
ページ数12
ISBN(印刷版)9783642373732
DOI
出版ステータスPublished - 2013 1 1
外部発表はい
イベント1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012 - Gwangju, Korea, Republic of
継続期間: 2012 12 162012 12 18

出版物シリーズ

名前Advances in Intelligent Systems and Computing
208 AISC
ISSN(印刷版)2194-5357

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンス(全般)

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