Title :
Modeling robot-soil interaction for planetary rover motion control
Author :
Andrade, G. ; Amar, Faiz Ben ; Bidaud, P. ; Chatila, R.
Author_Institution :
LRP, Velizy, France
Abstract :
In aim to optimize the control for an off-road robot and specially a robot with a crawling motion mode named peristaltical motion, it is essential to understand robot-soil interaction. We present an efficient method for simulating this interaction. This method can simulate the dynamic behavior of a 6-wheeled/3-axles Marsokhod type robot on different kinds of soils. With this simulation, we have defined the necessary conditions for using the peristaltical motion on sand or loose soil
Keywords :
mobile robots; optimal control; planetary rovers; robot dynamics; 6-wheeled/3-axles Marsokhod type robot; crawling motion; dynamic behavior; modeling robot-soil interaction; off-road robot; optimal control; peristaltical motion; planetary rover motion control; sand; Axles; Mobile robots; Motion control; Numerical models; Performance evaluation; Robot control; Robot motion; Soil; Testing; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724680
