TY - GEN
T1 - Influence evaluation of wheel surface profile on traversability of planetary rovers
AU - Sutoh, Masataku
AU - Ito, Tsuyoshi
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
PY - 2010
Y1 - 2010
N2 - Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, the wheels of planetary rovers can get stuck in loose soil, and the exploration mission may fail because of this situation. To avoid slippage and increase the wheels' drawbar pull, the wheels of planetary rovers typically have parallel fins called lugs on their surface. In this study, we conducted experiments using two-wheeled testbeds in a sandbox to provide a quantitative confirmation of the influence of lugs on the traversability of planetary rovers. In this paper, we report the results of the experiments, and discuss the influence of lugs on the traversability of planetary rovers.
AB - Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, the wheels of planetary rovers can get stuck in loose soil, and the exploration mission may fail because of this situation. To avoid slippage and increase the wheels' drawbar pull, the wheels of planetary rovers typically have parallel fins called lugs on their surface. In this study, we conducted experiments using two-wheeled testbeds in a sandbox to provide a quantitative confirmation of the influence of lugs on the traversability of planetary rovers. In this paper, we report the results of the experiments, and discuss the influence of lugs on the traversability of planetary rovers.
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U2 - 10.1109/SII.2010.5708303
DO - 10.1109/SII.2010.5708303
M3 - Conference contribution
AN - SCOPUS:79952812326
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 67
EP - 72
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -