Title :
Performance Optimization of All-Terrain Robots: A 2D Quasi-Static Tool
Author :
Krebs, Ambroise ; Thueer, Thomas ; Michaud, Stephane ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab, Swiss Fed. Inst. of Technol., Zurich
Abstract :
The creation of a rover for a specific task requires designing and selecting the mechanical structure specifically for its mission. This can be done by modelling a chassis and evaluating it with specific criteria, which is the aim of the performance optimization tool presented here. This software makes it possible to compare and improve existing and new designs in a quick and efficient way. The tool presented in this paper is based on a quasi-static approach including optimization of the friction coefficients to model and evaluate the rover
Keywords :
friction; mobile robots; planetary rovers; robot kinematics; 2D quasi-static tool; all-terrain robots; friction coefficients; mechanical structure; performance optimization tool; rover; Intelligent robots; Mobile robots; Optimization; Orbital robotics; Remotely operated vehicles; Space exploration; Space missions; Space technology; Suspensions; Wheels; All-terrain robot; Optimization Tool; Performance evaluation; Rover Design; Space robotics;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281955
