TY - GEN
T1 - Stability and adaptability analysis for legged robots intended for asteroid exploration
AU - Chacin, Marco
AU - Yoshida, Kazuya
PY - 2006/12/1
Y1 - 2006/12/1
N2 - This paper presents the design and gait analysis of a mobile rover for asteroid exploration. The basic requirement for the robot is to achieve scientific investigation of the asteroid surface at arbitrary locations with fine positioning capability after a large stride movement. This paper implements a general method for analyzing gaits, independent of the robot discussed, and could be applied to the gait of any legged robot; although special attention is given to creating a suitable gait for a nearly weightless environment. The discussion and simulation of different types of gaits in microgravity are addressed considering the principle of the motion using 3D computer simulation and control focused on the generation of statically stable and adaptable gaits so the rover advances with a desired speed and direction.
AB - This paper presents the design and gait analysis of a mobile rover for asteroid exploration. The basic requirement for the robot is to achieve scientific investigation of the asteroid surface at arbitrary locations with fine positioning capability after a large stride movement. This paper implements a general method for analyzing gaits, independent of the robot discussed, and could be applied to the gait of any legged robot; although special attention is given to creating a suitable gait for a nearly weightless environment. The discussion and simulation of different types of gaits in microgravity are addressed considering the principle of the motion using 3D computer simulation and control focused on the generation of statically stable and adaptable gaits so the rover advances with a desired speed and direction.
UR - http://www.scopus.com/inward/record.url?scp=34250675211&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250675211&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282135
DO - 10.1109/IROS.2006.282135
M3 - Conference contribution
AN - SCOPUS:34250675211
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1744
EP - 1749
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -