NDLI: Action planner of hybrid leg-wheel robots for lunar and planetary exploration

Content Provider	IEEE Xplore Digital Library
Author	Rohmer, E. Reina, G. Ishigami, G. Nagatani, K. Yoshida, K.
Copyright Year	2008
Description	Author affiliation: Dept. of Aerosp. Eng., Tohoku Univ., Sendai (Rohmer, E.; Ishigami, G.; Nagatani, K.; Yoshida, K.) \|\| Dept. of Innovation Eng., Univ. of Salento, Lecce (Reina, G.)
Abstract	In this paper, we propose an action planning algorithm and its evaluation method based on dynamic simulation for a novel type of hybrid leg-wheel rover for planetary exploration. Hybrid leg-wheel robots are recently receiving a growing interest from the space community to explore planets, since they offer an appropriate solution to gain improved speed and mobility on unstructured terrain. However, in order to fully reach the hybrid mechanismpsilas potential, it is necessary to establish an optimal way to define when to use one over the other locomotion mode, depending on the soil conditions and topology. Even though this step is crucial, little attention has been devoted to this topic by the robotic community. The switching of motion mode, that is either wheel or leg are the actions to be planned, that we are considering in this paper. We aim at generating the safest and the least energy demanding path to reach a point of scientific interest. In order to define the optimal path with the set of switching actions required for the robot to follow it, the authors developed an action planning algorithm and a path evaluation method based on a four steps approach. First, an optimal candidate path on a rough terrain is generated based on topology and specificationspsila criteria functions. Then switching actions are defined along this path depending on the hybrid robotpsilas performances in each motion mode. The next step is a dynamic simulation of the robot controlled to follow the path. Finally, the path is evaluated based on the energy profile spent by the actuators and calculated by the simulation. Demonstrations for the proposed technique are addressed along with a discussion on characteristics of the candidate path and the energy profile of the robot.
Starting Page	3902
Ending Page	3907
File Size	289510
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651134
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Mobile robots Leg Switches Wheels Legged locomotion Robot kinematics
Content Type	Text
Resource Type	Article

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