Design and Experimental Validation of a Mobile Robot Platform for Analog Planetary Exploration

被引：0
|
作者：
Amato, Joseph L. [1 ]
Anderson, Jon J. [1 ]
Carlone, Thomas J. [1 ]
Fagan, Michael E. [1 ]
Stafford, Kenneth A. [1 ]
Padir, Taskin [1 ]
机构：
[1] Worcester Polytech Inst, Robot Engn Program, Worcester, MA USA
来源：
38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012) | 2012年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents the design and experimental validation of a modular robotic platform for planetary exploration. A rover, ORYX 2.0, is designed and developed to serve as a research platform that can transport payloads over rough terrain. Field testing is conducted to evaluate the mobility potential of ORYX 2.0's passive kinematic suspension. Data from field testing is analyzed to identify the wheel velocities over rough terrain when straight line trajectories are desired. A simulation tool is used to estimate the terrain profile, using the 3-axis orientation data and angle of the rocking suspension. The approach used in estimating terrain profiles can effectively be used to improve the rover performance for trajectory tracking control.
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收藏
页码：2686 / 2692
页数：7
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