Comprehensive locomotion performance evaluation of all-terrain robots

被引：25
|
作者：
Thueer, Thomas [1 ]
Krebs, Ambroise [1 ]
Siegwart, Roland [1 ]
机构：
[1] ETH, Swiss Fed Inst Technol, Autonomous Syst Lab, CH-8092 Zurich, Switzerland
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
rover; all-terrain robots; locomotion systems; robot design; space robotics;
D O I：
10.1109/IROS.2006.281954
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 Double-Spring system.
引用
收藏
页码：4260 / +
页数：2
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