Mobile robot kinematic reconfigurability for rough terrain

Karl D. Iagnemma; Adam Rzepniewski; Steven Dubowsky; Paolo Pirjanian; Terrance L. Huntsberger; Paul S. Schenker

doi:10.1117/12.403739

16 October 2000 Mobile robot kinematic reconfigurability for rough terrain

Karl D. Iagnemma, Adam Rzepniewski, Steven Dubowsky, Paolo Pirjanian, Terrance L. Huntsberger, Paul S. Schenker

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403739
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

Future planetary exploration missions will use rovers to perform tasks in rough terrain. Working in such conditions, a rover could become trapped due to loss of wheel traction, or even tip over. The Jet Propulsion Laboratory has developed a new rover with the ability to reconfigure its structure to improve tipover stability and ground traction. This paper presents a method to control this reconfigurability to enhance system tipover stability. A stability metric is defined and optimized online using a quasi-static model. Simulation and experimental results for the Sample Return Rover (SSR) are presented. The method is shown to be practical and yields significantly improved stability in rough terrain.

Citation Download Citation

Karl D. Iagnemma, Adam Rzepniewski, Steven Dubowsky, Paolo Pirjanian, Terrance L. Huntsberger, and Paul S. Schenker "Mobile robot kinematic reconfigurability for rough terrain", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403739

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