Comprehensive locomotion performance evaluation of all-terrain robots
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Date
2006
Publication Type
Conference Paper
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yes
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Abstract
Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimize the required friction which is an important performance metric. The evaluation comprises well known rover concepts and new suspension systems. The performance of the systems is compared and interesting effects of some concepts are discussed in more detail including torques and load distribution. The rovers MER (NASA) and CRAB (EPFL) show good performance which is topped only by the eight wheeled DoubleSpring system
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Publication status
published
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Book title
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Journal / series
Volume
Pages / Article No.
4260 - 4265
Publisher
IEEE
Event
19th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006)
Edition / version
Methods
Software
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Date collected
Date created
Subject
Rover; All-terrain robots; Locomotion systems; Robot design; Space robotics
Organisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.