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
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;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973342
