Title :
SMC rover: planetary rover with transformable wheels
Author :
Kawakami, Atsushi ; Torii, Akihiro ; Motomura, Kazuhiro ; Hirose, Shigeo
Author_Institution :
Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
We propose 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 "Uni-Rover". Trial models of "Uni-Rover" and "SMC rover" have been designed. This paper explains the mechanisms of this rover, and also results of the basic experiments performed.
Keywords :
mobile robots; motion control; multi-robot systems; planetary rovers; SMC rover; Uni-Rover; locomotion mode; mobility; parent-children type rover; planetary rover system; rough terrain; Batteries; Immune system; Large-scale systems; Marine vehicles; Moon; Planets; Probes; Sliding mode control; Wheels; Wrist;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195203
