TY - GEN
T1 - Evaluation of the reconfiguration effects of planetary rovers on their lateral traversing of sandy slopes
AU - Inotsume, Hiroaki
AU - Sutoh, Masataku
AU - Nagaoka, Kenji
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
PY - 2012
Y1 - 2012
N2 - Rovers that are used to explore craters on the Moon or Mars require the mobility to negotiate sandy slopes, on which slippage can easily occur. Such slippage can be reduced by actively readjusting the attitude of the rovers. By changing attitude, rovers can modify the position of their center of gravity and the wheel-soil contact angle. In this study, we discuss the effects of attitude changes on downhill sideslip based on the slope failure mechanism and experiments on reconfiguring the rover attitude and wheel angles. We conducted slope-traversing experiments using a wheeled rover under various roll angles and wheel angles. The experimental results show that the contact angle between wheels and slopes has a dominant influence on sideslip when compared with that of readjusting the rover's center of gravity.
AB - Rovers that are used to explore craters on the Moon or Mars require the mobility to negotiate sandy slopes, on which slippage can easily occur. Such slippage can be reduced by actively readjusting the attitude of the rovers. By changing attitude, rovers can modify the position of their center of gravity and the wheel-soil contact angle. In this study, we discuss the effects of attitude changes on downhill sideslip based on the slope failure mechanism and experiments on reconfiguring the rover attitude and wheel angles. We conducted slope-traversing experiments using a wheeled rover under various roll angles and wheel angles. The experimental results show that the contact angle between wheels and slopes has a dominant influence on sideslip when compared with that of readjusting the rover's center of gravity.
UR - http://www.scopus.com/inward/record.url?scp=84864479916&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864479916&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224887
DO - 10.1109/ICRA.2012.6224887
M3 - Conference contribution
AN - SCOPUS:84864479916
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3413
EP - 3418
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -