Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover

Christophe Grand; Faiz Ben Amar; Philippe Bidaud

doi:10.1117/12.474461

17 July 2002 Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover

Christophe Grand, Faiz Ben Amar, Philippe Bidaud

Proceedings Volume 4715, Unmanned Ground Vehicle Technology IV; (2002) https://doi.org/10.1117/12.474461
Event: AeroSense 2002, 2002, Orlando, FL, United States

Abstract

This paper deals with the optimization of locomotion performances of vehicle used for planetary exploration. The design of an innovative reconfigurable mini-rover is presented. Then, a control process that optimize the stability and the global traction performances is developed. A method to identify in-situ the wheel-ground mechanical contact properties is proposed and used to determine an optimal traction torque. Results on experiments and simulations show that the rover stability is significantly enhanced by using the proposed control method.

Citation Download Citation

Christophe Grand, Faiz Ben Amar, and Philippe Bidaud "Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover", Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); https://doi.org/10.1117/12.474461

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