NDLI: Wheeled robot with movable center of mass for traversing over rough terrain

Content Provider	IEEE Xplore Digital Library
Author	Nakamura, S. Faragalli, M. Mizukami, N. Nakatani, I. Kunii, Y. Kubota, T.
Copyright Year	2007
Description	Author affiliation: ISAS/JAXA, Sagamihara (Nakamura, S.; Faragalli, M.; Mizukami, N.; Nakatani, I.; Kunii, Y.; Kubota, T.)
Abstract	Planetary exploration requires rovers to perform a variety of challenging tasks autonomously. In order to complete relevant scientific mission, these rovers need to overcome difficulty for rough terrain traversing by "online methods". This paper discusses an idea that utilizes a rover mobile center of mass in order to aid in traversing rough terrain. According to vehicle pitch angle and contact angles, the rover recalculates the optimal position for the center of mass to minimize the indicator defined by two factors : the wheel driving force over the wheel normal force (adhesion coefficient) and tip-over stability angle (stability coefficient). Two innovative approaches are developed in this paper. The first one is that the authors defines easily comprehensible two factors, adhesion and stability coefficients for traversability indicator and proposes a method to calculate optimal center of mass position. The second one is that in the case of four-wheels drive, the relation between the front wheel and the rear wheel adhesion coefficient is easily solved and the best case for giving the driving forces can be solved as force making the front and the rear wheel adhesion coefficient equal. The authors call this "optimal force distribution method". Finally, this paper shows some simulation results for traversing rough terrain that compute the optimal center of mass while traversing the terrain.
Starting Page	1228
Ending Page	1233
File Size	828407
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399168
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Orbital robotics Adhesives Stability Wheels Space exploration Mars NASA Weight control Intelligent robots
Content Type	Text
Resource Type	Article

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