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.


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    Title :

    Mobile robot kinematic reconfigurability for rough terrain



    Conference:

    Sensor Fusion and Decentralized Control in Robotic Systems III ; 2000 ; Boston,MA,United States


    Published in:

    Publication date :

    2000-10-16





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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