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2006
IEEE

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

9 years 5 months ago
Comprehensive Locomotion Performance Evaluation of All-Terrain Robots
– Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is 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. The evaluation comprises well known rover concepts and new suspension systems. The performance of the systems is compared and interesting effects of some concepts are discussed in more detail including torques and load distribution. The rovers MER (NASA) and CRAB (EPFL) show good performance which is topped only by the eight wheeled DoubleSpring system.
Thomas Thueer, Ambroise Krebs, Roland Siegwart
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Thomas Thueer, Ambroise Krebs, Roland Siegwart
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