NDLI: Study on turn motion of child rovers of a reconfigurable planetary rover system

Content Provider	IEEE Xplore Digital Library
Author	Xinyuan He Shugen Ma Bin Li Yuechao Wang Minghui Wang Hirose, S. Kawakami, A. Motomura, K.
Copyright Year	2005
Description	Author affiliation: Lab. of Robotics, Shenyang Inst. of Autom., China (Xinyuan He; Shugen Ma; Bin Li; Yuechao Wang; Minghui Wang)
Abstract	A reconfigurable planetary rover system (RPRS) is presented, including the parent body and some child robots. The child robot composed with the arm part and the wheel part has two moving modes: locomotion mode and manipulation mode. According to the mechanical characteristics, we proposed the two methods for the motion planning of swerving locomotion. The results of experiments showed that the robot can achieve turn during locomotion by adjusting the arm's attitude. But the child robot's radius of left-hand turning motion during locomotion is bigger much than the radius of right-hand turning motion during locomotion and the effect is not obvious. The method of spot turning is presented by use of the difference between radial frictional force and tangential frictional force of ground and direction wheel, which is important for robot for autonomous locomotion.
Starting Page	114
Ending Page	119
File Size	397880
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545176
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot kinematics Wheels Turning Orbital robotics Motion planning Robotics and automation Helium Laboratories Distributed control turn motion reconfigurable planetary robot system motion planning
Content Type	Text
Resource Type	Article

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