Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

Thueer,; Krebs,; Siegwart, Roland

doi:10.1109/iros.2006.281954

Cited by 45 publications

(37 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In 2004, Switzerland ASL developed the six rounds of the prototype vehicle called crab, which the bilateral double parallelogram rocker suspension is used [11]. Each side of the suspension is made up of two sets of the parallelogram secondary rocker hinged at the middle wheel and a main rocker.…”

Section: Fig 2 Shrimpmentioning

confidence: 99%

A Literature Review of the Rocker-Bogie Suspension for the Planetary Rover

Yang¹,

Dong²,

Ye³

2018

Proceedings of the 2017 International Seminar on Artificial Intelligence, Networking and Information Technology (ANIT 2017)

View full text Add to dashboard Cite

Abstract. Suspension is divided into non-independent suspension and independent suspension. These two kinds of suspensions are widely used in general vehicles. General vehicles can travel on urban roads and highways. But they cannot travel on rough roads or extremely uneven roads. The rocker-bogie suspension is proposed to solve that problem. It is widely used in planetary rover. The purpose of this paper is to systematically compare the performance of these rovers. This paper review the different rocker-bogie suspensions designed by different countries and demonstrate their capability to improve the performance of the suspension of rovers. Various technologies in which different configurations, component combinations and mechanical designs are used to improve the performance of the suspension are also discussed in this paper.

show abstract

Section: Fig 2 Shrimpmentioning

confidence: 99%

A Literature Review of the Rocker-Bogie Suspension for the Planetary Rover

Yang¹,

Dong²,

Ye³

2018

Proceedings of the 2017 International Seminar on Artificial Intelligence, Networking and Information Technology (ANIT 2017)

View full text Add to dashboard Cite

show abstract

“…Two rovers with different wheel dimensions are difficult to compare. More detailed information about this subject can be found in [11].…”

Section: Design Comparisonmentioning

confidence: 99%

“…This will allow us to accurately characterize the difference between the POT outputs and the reality [11]. It will be done using the Solero [12] rover on various symmetrical obstacles.…”

Section: Future Workmentioning

confidence: 99%

Performance Optimization of All-Terrain Robots: A 2D Quasi-Static Tool

Krebs

Thueer

Michaud³

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

-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.

show abstract

“…Tri-Star II [4] NASA/JPL Rocker-Bogie Sojourner [5] [6] PEGASUS Micro5 [7] [8] EPFL Shrimp [9] CRAB [10] Dune Explorer [11] Fig. 12 (a) k-means Zaurus Fig.…”

mentioning

confidence: 99%

Adaptive Control System for an Outdoor Mobile Robot

Sato¹,

Kanda²,

Ishii³

2009

JRSJ

View full text Add to dashboard Cite

This paper describes the development of an adaptive control system for an outdoor mobile robot. The adaptive control system is composed of an environment recognition system using a self-organizing map and hybrid-neural network controllers based on neural networks. The environment recognition system can recognize the environment in which the robot travels and can switch the hybrid-neural network controller. The hybrid-neural network controllers are tuned by experimental results for each environment. To evaluate the performance of target tracking and vibration suppression, an experiment using the wheeled mobile robot, "Zaurus", was conducted in rough terrain. As a result, our proposed method could show less oscillatory motion in rough terrain and performed better than a well tuned PID controller.

show abstract

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

Cited by 45 publications

References 8 publications

A Literature Review of the Rocker-Bogie Suspension for the Planetary Rover

A Literature Review of the Rocker-Bogie Suspension for the Planetary Rover

Performance Optimization of All-Terrain Robots: A 2D Quasi-Static Tool

Adaptive Control System for an Outdoor Mobile Robot

Contact Info

Product

Resources

About