NDLI: Locomotion modes for a hybrid wheeled-leg planetary rover

Content Provider	IEEE Xplore Digital Library
Author	Cordes, F. Dettmann, A. Kirchner, F.
Copyright Year	2011
Description	Author affiliation: DFKI Robotics Innovation Center Bremen, 28359 Bremen, Germany (Cordes, F.; Dettmann, A.; Kirchner, F.)
Abstract	This paper introduces locomotion modes for the planetary rover $Sherpa^{1}.$ The rover's locomotion system consists of four wheeled-legs, each providing a total of six degrees of freedom. The design of the active suspension system allows a wide range of posture and drive modes for the rover. Self-locking gears in the suspension system allow to maintain the body height without the need of actively driving the actuators. Thus, energy-efficient wheeled locomotion and at the same time high flexibility in ground adaption and obstacle negotiation are possible, as well as high payload capabilities. Furthermore, the rover will be equipped with a manipulator arm explicitly designed to be used for locomotion support. Thus, all degrees of freedom of the system can be used to enhance the locomotive capabilities. This paper gives an overview of the mechanical design of the rover, kinematic considerations for movement constraints on the wheel contact points are presented. Based on these constraints, the wheel motions due to the commanded velocities of the platform can be calculated, taking into account the flexible posture of the rover. A first set of possible locomotion modes for the rover is presented in this paper as well.
Starting Page	2586
Ending Page	2592
File Size	1707366
Page Count	7
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181694
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Mobile robots Robot kinematics Suspensions Joints Manipulators
Content Type	Text
Resource Type	Article

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