DocumentCode
2107333
Title
Modeling robot-soil interaction for planetary rover motion control
Author
Andrade, G. ; Amar, Faiz Ben ; Bidaud, P. ; Chatila, R.
Author_Institution
LRP, Velizy, France
Volume
1
fYear
1998
fDate
13-17 Oct 1998
Firstpage
576
Abstract
In aim to optimize the control for an off-road robot and specially a robot with a crawling motion mode named peristaltical motion, it is essential to understand robot-soil interaction. We present an efficient method for simulating this interaction. This method can simulate the dynamic behavior of a 6-wheeled/3-axles Marsokhod type robot on different kinds of soils. With this simulation, we have defined the necessary conditions for using the peristaltical motion on sand or loose soil
Keywords
mobile robots; optimal control; planetary rovers; robot dynamics; 6-wheeled/3-axles Marsokhod type robot; crawling motion; dynamic behavior; modeling robot-soil interaction; off-road robot; optimal control; peristaltical motion; planetary rover motion control; sand; Axles; Mobile robots; Motion control; Numerical models; Performance evaluation; Robot control; Robot motion; Soil; Testing; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724680
Filename
724680
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