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

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

4266

Lastpage

4271

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2006.281955

Filename

4059082