Development and field testing of the FootFall planning system for the ATHLETE robots

SunSpiral, Vytas; Wheeler, Dawn; Chavez-Clemente, Daniel; Mittman, David S.

doi:10.1002/rob.20410

Cited by 30 publications

(18 citation statements)

References 34 publications

(32 reference statements)

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“…The contact mechanics of Mars rover wheels and the terrain was predicted using Hunt‐Crossley models in three dimensions (Sohl & Jain, ), and Wheeler et al. used a similar concept—three‐dimensional spring models—to predict the contact forces of wheel and terrain for the All‐terrain Hex‐limbed Extra‐terrestrial Explorer (ATHLETE) (SunSpiral, Wheeler, Chavez‐Clemente, & Mittman, ). The conventional contact models contain general parameters that do not map directly to the physically measurable quantities but rather to combinations of physical parameters.…”

Section: Introductionmentioning

confidence: 99%

Interaction Mechanics Model for Rigid Driving Wheels of Planetary Rovers Moving on Sandy Terrain with Consideration of Multiple Physical Effects

Ding

Deng

Gao

et al. 2014

Journal of Field Robotics

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Predicting wheel‐terrain interaction with semiempirical models is of substantial importance for developing planetary wheeled mobile robots (rovers). Primarily geared toward the design of manned terrestrial vehicles, conventional terramechanics models do not provide the sufficient fidelity required for application on autonomous planetary rovers. To develop a high‐fidelity interaction mechanics model, in this study the physical effects of wheel lug, slip sinkage, wheel dimension, and load are analyzed based on experimental results, including wheel sinkage, drawbar pull, normal force, and moment, which are measured on a single‐wheel test bed. The mechanism of lug‐terrain interaction is investigated systematically to clarify the principle of increasing shear stress, conditions of forming successive shearing among adjacent lugs, and the influence on shear displacement of soil. A mathematical model for predicting the concentrated forces and torque of rigid wheels with lugs for planetary rovers moving on sandy terrain is derived by integrating the improved models of normal and shearing stress distributions. In addition to the wheel parameters, terrain parameters, and motion state variables, wheel‐terrain interaction parameters, such as the linear varying sinkage exponent, the soil displacement radius, and load effect parameters, were proposed and explicitly included in the model. In the single‐wheel experiments, the slip ratio was increased approximately from 0.05 to 0.6, and the relative errors of the predicted results using the proposed model are less than 10% for all the wheels when compared with the experimental data. The proposed model has been used in the simulation of a four‐wheeled rover, and its effectiveness is evaluated by comparing the simulation results with experimental results.

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Section: Introductionmentioning

confidence: 99%

Interaction Mechanics Model for Rigid Driving Wheels of Planetary Rovers Moving on Sandy Terrain with Consideration of Multiple Physical Effects

Ding

Deng

Gao

et al. 2014

Journal of Field Robotics

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“…A more recent study by Fujiwara and Iizuka [5] reinforces this statement, analyzing the augmentation in the resistance force of the terrain due to the soil being bulldozed. Furthermore, since the use of active articulated legs can also help to thrust rovers on loose soil, as demonstrated in Reference [6], the combination of them along with wheels introduces new possible locomotion modes [7][8][9][10]. Such combination, together with a rocker-bogie kinematic configuration, is present in the ExoTeR (Exomars Testing Rover).…”

Section: Introductionmentioning

confidence: 99%

Choosing the Best Locomotion Mode in Reconfigurable Rovers

et al. 2019

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The use of autonomous rovers for planetary exploration is crucial to traverse long distances and perform new discoveries on other planets. One of the most important issues is related to the interaction between the rover wheel and terrain, which would help to save energy and even avoid getting entrapped. The use of reconfigurable rovers with different locomotion modes has demonstrated improvement of traction and energy consumption. Therefore, the objective of this paper is to determine the best locomotion mode during the rover traverse, based on simple parameters, which would be obtained from propioceptive sensors. For this purpose, interaction of different terrains have been modelled and analysed with the ExoTeR, a scale prototype rover of the European ExoMars 2020 mission. This rover is able to perform, among others, the wheel walking locomotion mode, which has been demonstrated to improve traction in different situations. Currently, it is difficult to decide the instant time the rover has to switch from this locomotion mode to another. This paper also proposes a novel method to estimate the slip ratio, useful for deciding the best locomotion mode. Finally, results are obtained from an immersive simulation environment. It shows how each locomotion mode is suitable for different terrains and slopes and the proposed method is able to estimate the slip ratio.

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“…Wheel-Legged locomotion system is a preferred solution for maneuvering on such rough terrain, e.g. Chariot III [4][5][6][7][8], HyLoS series (four-legged robot) [9], NOROS series [10] and ATHLETE (six-legged robot) [11][12][13]. Compared with the traditional wheeled machines, high mobility, obstaclesurmounting capability and maneuverability are the major merits of the wheel-leg locomotion system.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot

Sun¹,

Liu²,

Yu³

et al. 2015

TOMEJ

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The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs. The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt fluctuations are decreased by 5 times.

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Development and field testing of the FootFall planning system for the ATHLETE robots

Cited by 30 publications

References 34 publications

Interaction Mechanics Model for Rigid Driving Wheels of Planetary Rovers Moving on Sandy Terrain with Consideration of Multiple Physical Effects

Interaction Mechanics Model for Rigid Driving Wheels of Planetary Rovers Moving on Sandy Terrain with Consideration of Multiple Physical Effects

Choosing the Best Locomotion Mode in Reconfigurable Rovers

Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot

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