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Proceedings Paper

Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover
Author(s): Christophe Grand; Faiz Ben Amar; Philippe Bidaud
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Paper Abstract

This paper deals with the optimization of locomotion performances of vehicle used for planetary exploration. The design of an innovative reconfigurable mini-rover is presented. Then, a control process that optimize the stability and the global traction performances is developed. A method to identify in-situ the wheel-ground mechanical contact properties is proposed and used to determine an optimal traction torque. Results on experiments and simulations show that the rover stability is significantly enhanced by using the proposed control method.

Paper Details

Date Published: 17 July 2002
PDF: 8 pages
Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); doi: 10.1117/12.474461
Show Author Affiliations
Christophe Grand, Univ. de Paris (France)
Faiz Ben Amar, Univ. de Paris (France)
Philippe Bidaud, Univ. de Paris (France)


Published in SPIE Proceedings Vol. 4715:
Unmanned Ground Vehicle Technology IV
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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