&lt;title&gt;Mobile robot kinematic reconfigurability for rough terrain&lt;/title&gt;

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

doi:10.1117/12.403739

Cited by 75 publications

(39 citation statements)

References 10 publications

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“…They use a variety of techniques, such as tracks that conform to the shape of the terrain [56], active or rocker-bogie suspension [13,24,50], and rappelling [43]. None of these techniques scale up to vertical terrain.…”

Section: Track and Legged Robotsmentioning

confidence: 99%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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Abstract. The goal of this research is to enable a multi-limbed robot to climb vertical rock using techniques similar to those developed by human climbers. The robot consists of a small number of articulated limbs. Only the limb end-points can make contact with the environment-a vertical surface with small, arbitrarily distributed features called holds. A path through this environment is a sequence of one-step climbing moves in which the robot brings a limb end-point to a new hold. The robot maintains balance during each move by pushing and/or pulling at other holds, exploiting contact and friction at these holds while adjusting internal degrees of freedom to avoid sliding. The paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It proposes an efficient test of the quasi-static equilibrium of these robots and describes a fast planner based on this test to compute one-step climbing moves. This planner is demonstrated in simulation for both robots.

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Section: Track and Legged Robotsmentioning

confidence: 99%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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“…[Bartlett08] The independently actuated rocker arms of the Scarab rover allow for actively controlled center-of-mass shifting. The JPL Sample Return Rover has similar capability [Iagnemma00]. Benefits of this feature include decreased slip during cross-slope maneuvers.…”

Section: Mobility Experimentsmentioning

confidence: 92%

Field Experiments in Mobility and Navigation with a Lunar Rover Prototype

Wettergreen

Jonak²,

Kohanbash³

et al. 2010

Springer Tracts in Advanced Robotics

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Scarab is a prototype rover for lunar missions to survey resources, particularly water ice, in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments. Its chassis can transform to stabilize its drill in contact with the ground and can also adjust posture to ascend and descent steep slopes. Scarab has undergone field testing at lunar analogue sites in Washington and Hawaii in an effort to quantify and validate its mobility and navigation capabilities. We report on results of experiments in slope ascent and descent and in autonomous kilometer-distance navigation in darkness.

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“…As an example, the rover has successfully made stable descents of 40-to-50 degree slopes and performed ascents and cross-traverses of 30 degrees or more, per Figure 11, at left. , performed on the SRR at JPL [11]. We next briefly summarize this study and some of its preliminary results.…”

Section: Terrain Adaptive Mobilitymentioning

confidence: 99%

<title>Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks</title>

et al. 2001

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During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy, atmosphere and other descriptors of current and historical planetary processes-and ultimately-the return of pristine samples to Earth for detailed analysis. Toward these ends, we have conducted a broad program of research on robotic systems for scientific exploration of the Mars surface, with minimal remote intervention. The goal is to enable high productivity semi-autonomous science operations where available mission time is concentrated on robotic operations, rather than up-and-down-link delays. Results of our work include prototypes for landed manipulators, long-ranging science rovers, sampling/sample return mobility systems, and more recently, terrain-adaptive reconfigurable/modular robots and closely cooperating multiple rover systems. The last of these are intended to facilitate deployment of planetary robotic outposts for an eventual human-robot sustained scientific presence. We overview our progress in these related areas of planetary robotics R&D, spanning 1995-to-present.

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<title>Mobile robot kinematic reconfigurability for rough terrain</title>

Cited by 75 publications

References 10 publications

Toward Autonomous Free-Climbing Robots

Toward Autonomous Free-Climbing Robots

Field Experiments in Mobility and Navigation with a Lunar Rover Prototype

<title>Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks</title>

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