ICRA 201676 citations
Actively articulated suspension for a wheel-on-leg rover operating on a Martian analog surface
William Reid, Francisco Javier Pérez-Grau, Ali Haydar Göktogan, Salah Sukkarieh
Abstract
Actively articulated wheel-on-leg rovers offer high degrees of mobility for traversing unstructured and scientifically interesting terrain. An ability to actively conform to the terrain to increase traversability is sought. A kinematic model based on recursive kinematic propagation in combination with a terrain map generated online is used to solve desired limb articulation angles that meet operator defined rover body trajectories. This technique is validated in field tests on a Martian analog terrain.
BibTeX
@inproceedings{icra2016_activelyarticula,
title = {Actively articulated suspension for a wheel-on-leg rover operating on a Martian analog surface},
author = {William Reid and Francisco Javier Pérez-Grau and Ali Haydar Göktogan and Salah Sukkarieh},
booktitle = {ICRA 2016},
year = {2016}
}