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Proceedings Paper

Mobile robot kinematic reconfigurability for rough terrain
Author(s): Karl D. Iagnemma; Adam Rzepniewski; Steven Dubowsky; Paolo Pirjanian; Terrance L. Huntsberger; Paul S. Schenker
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Paper Abstract

Future planetary exploration missions will use rovers to perform tasks in rough terrain. Working in such conditions, a rover could become trapped due to loss of wheel traction, or even tip over. The Jet Propulsion Laboratory has developed a new rover with the ability to reconfigure its structure to improve tipover stability and ground traction. This paper presents a method to control this reconfigurability to enhance system tipover stability. A stability metric is defined and optimized online using a quasi-static model. Simulation and experimental results for the Sample Return Rover (SSR) are presented. The method is shown to be practical and yields significantly improved stability in rough terrain.

Paper Details

Date Published: 16 October 2000
PDF: 8 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403739
Show Author Affiliations
Karl D. Iagnemma, Massachusetts Institute of Technology (United States)
Adam Rzepniewski, Massachusetts Institute of Technology (United States)
Steven Dubowsky, Massachusetts Institute of Technology (United States)
Paolo Pirjanian, Jet Propulsion Lab. (United States)
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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