DocumentCode
2048652
Title
Design of SMC rover: development and basic experiments of arm equipped single wheel rover
Author
Kawakami, Atsushi ; Torii, Akinori ; Hirose, Shigeo
Author_Institution
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Yokohama, Japan
Volume
1
fYear
2001
fDate
2001
Firstpage
96
Abstract
We have already proposed a new planetary rover system called "SMC rover". This system consists of one main body and some wheel units, which are detachable and able to work as child rovers called "arm equipped single wheel rovers". A trial model of "small arm equipped single wheel rover" has already been designed and developed. In this paper, we explain the mechanisms of this rover, and also the results of basic experiments of locomotion and manipulation
Keywords
manipulators; mobile robots; planetary rovers; SMC rover; arm equipped single wheel rover; child rovers; locomotion; manipulation; planetary rover systems; Design engineering; Large-scale systems; Marine vehicles; Moon; Planets; Probes; Sliding mode control; Tiles; Wheels; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973342
Filename
973342
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