Wheel Torque Control in Rough Terrain - Modeling and Simulation
Pierre Lamon,Roland Siegwart +1 more
- pp 867-872
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TLDR
The proposed method for wheel-ground contact angle measurement and a traction control strategy minimizing slip in rough terrain has the advantage to avoid relying on complex wheel-soil interaction models, whose parameters are generally unknown in challenging terrains.Abstract:
This paper presents a method for wheel-ground contact angle measurement and a traction control strategy minimizing slip in rough terrain. The slip minimization algorithm has been tested and compared with a standard speed control in simulation, which allows to verify the validity of the assumptions taken during the modeling phase. The simulations show clearly the advantage of torque control versus speed control. Furthermore, the proposed method has the advantage to avoid relying on complex wheel-soil interaction models, whose parameters are generally unknown in challenging terrains.read more
Citations
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Journal ArticleDOI
Wheel slip-sinkage and its prediction model of lunar rover
TL;DR: Wang et al. as discussed by the authors investigated wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, and experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0−0.6).
Journal ArticleDOI
Mobility evaluation of wheeled all-terrain robots
Thomas Thueer,Roland Siegwart +1 more
TL;DR: This work aims at providing a basis for the evaluation and comparison of the mobility performance of wheeled, all-terrain robots with respect to terrainability, and Precisely defined existing and novel metrics are proposed for this purpose.
Journal ArticleDOI
Planetary rovers' wheel---soil interaction mechanics: new challenges and applications for wheeled mobile robots
TL;DR: The significance of the study of wheel–soil interaction mechanics of planetary rovers is discussed and the differences between Planetary rovers and terrestrial vehicles are summarized and the key issues for future research are discussed.
Journal ArticleDOI
Performance comparison of rough-terrain robots—simulation and hardware
TL;DR: The POT enables the comparison and optimization of a rover chassis in a quick and efficient way and is based on a static approach including optimization of the wheel torques in order to maximize traction.
Comprehensive Locomotion Performance Evaluation of All-Terrain Robots
TL;DR: A comprehensive evaluation of wheeled passive systems is presented in this work 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.
References
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Book
Three-Dimensional Elastic Bodies in Rolling Contact
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TL;DR: In this paper, the basic equations of the linear theory of elasticity and mathematical programming notions of mathematical programming are defined and a numerical calculation of the elastic field in a half-space is presented.
Journal ArticleDOI
Innovative design for wheeled locomotion in rough terrain
TL;DR: An innovative locomotion concept for rough terrain based on six motorized wheels based on rhombus configuration, the rover named Shrimp has a steering wheel in the front and the rear, and two wheels arranged on a bogie on each side.
Proceedings ArticleDOI
On-line terrain parameter estimation for planetary rovers
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Proceedings ArticleDOI
Mobile robot rough-terrain control (rtc) for planetary exploration
Karl Iagnemma,Steven Dubowsky +1 more
TL;DR: A rough-terrain control (RTC) methodology is presented that exploits the actuator redundancy found in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption.
Octopus - An Autonomous Wheeled Climbing Robot
TL;DR: In this article, an innovative off-road wheeled mobile robot, named Octopus, is presented, able to deal autonomously with obstacles in rough terrain without getting stuck, and it has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized).
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