Measurement of stress distributions of a wheel with grousers traveling on loose soil

Higa, Shoya; Sawada, Kazumasa; Nagaoka, Kenji; Nagatani, Keiji; Yoshida, Kazuya

doi:10.1109/icra.2016.7487445

Cited by 5 publications

(4 citation statements)

References 7 publications

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“…However, there are not many papers dealing with active or hybrid wheeled locomotion concepts which may improve traction under high‐slip events . Additionally, new wheel designs and patters in the wheel structure (e.g., grousers) and elastic‐deformable wheels should be further investigated for the specific purpose of minimizing slippage …”

Section: Conclusion and Future Challengesmentioning

confidence: 99%

Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges

González

Iagnemma

2017

Journal of Field Robotics

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Future lunar/planetary exploration missions will demand mobile robots with the capability of reaching more challenging science targets and driving farther per day than the current Mars rovers. Among other improvements, reliable slippage estimation and compensation strategies will play a key role in enabling a safer and more efficient navigation. This paper reviews and discusses this body of research in the context of planetary exploration rovers. Previously published state‐of‐the‐art methods that have been validated through field testing are included as exemplary results. Limitations of the current techniques and recommendations for future developments and planetary missions close the survey.

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Section: Conclusion and Future Challengesmentioning

confidence: 99%

Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges

González

Iagnemma

2017

Journal of Field Robotics

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“…One of the specialities of the Space Robotics Lab is terramechanics. The research is mostly based on analysing motion capabilities and constraints over loose soils and optimising the results through control theory and study of the wheel design [9]. Using this research, we are developing optimal wheels for planetary micro-rover in environments like the moon.…”

Section: Wheel Design Considerationmentioning

confidence: 99%

Initial Design Characteristics, Testing and Performance Optimisation for a Lunar Exploration Micro-Rover Prototype

Laine

Tamakoshi

Touboulic

et al. 2018

Adv. Astronaut. Sci. Technol.

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In the field of space and planetary missions, the use of robotic systems for exploration tasks has become quite common. The recent emergence of private ventures will increase the number of missions in the upcoming years, but the budget for each one of them will have to be considerably lower than that of government-based projects. With celestial bodies the size of the moon, sending a single rover has become inefficient for full-surface exploration, mapping and resource prospecting. To achieve these objectives, two main fields require further research. First, reducing single rover's cost by making them smaller and simplifying their onboard equipment. Second, collaboration strategies for large groups of rovers should be devised to enable faster surface exploration. We are currently working on a 1-kg, three-wheeled rover prototype called Koguma. This platform is, first and foremost, to demonstrate the potential of deploying small rovers for planetary exploration. The simple design and low manufacturing cost associated with it will enable the integration of a larger number of prototypes, opening up more possibilities of field testing the collaboration software. The main concern surrounding this category of rovers is to determine the limits of their motion performances. To qualify for planetary missions, traversal capability over loose soils of varying steepness has to be assessed. In this paper, we present the design characteristics of this initial prototype. Inherited from previous generations of two-and three-wheeled rovers, we start by explaining the main motivations towards this model. From mass budget to dimensions, materials and system architecture, we will explain the ideas and reasoning behind our choices. We will then present the results surrounding initial performance tests on the Koguma platform. We conducted slope-climbing experiments using an orientation controllable sandbox. Mobility performance is assessed by evaluating the relationship between wheel key parameters and capabilities. These parameters are radius, width, and grouser size of the front wheels. Through this, we propose the first approach of design recommendations for the development of light, three-wheeled rovers.

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“…In order to avoid the influence of environmental factors such as illumination, some scholars have begun to use methods other than image processing for wheel sinkage detection. Hige et al [20] acquire the depth information of the soil area beside the wheel by placing a TOF camera on the side of the wheel and subsequently calculating the wheel sinkage. Unlike image processing methods, this method is minimally affected by the conditions of the target environment, such as lighting or reflectance.…”

Section: Introductionmentioning

confidence: 99%

A Real-Time Sinkage Detection Method for the Planetary Robotic Wheel-on-Limb System via a Monocular Camera

Liu,

Feng,

Wang

2024

Applied Sciences

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When traversing soft and rugged terrain, a planetary rover is susceptible to slipping and sinking, which impedes its movement. The real-time detection of wheel sinkage in the planetary wheel-on-limb system is crucial for enhancing motion safety and passability on such terrain. Initially, this study establishes a measurement of wheel sinkage under complex terrain conditions. Subsequently, a monocular vision-based wheel sinkage detection method is presented by combining the wheel–terrain boundary with the wheel center position (WTB-WCP). The method enables the efficient and accurate detection of wheel sinkage through two-stage parallel computation of the wheel–terrain boundary fitting and wheel center localization. Finally, this study establishes an experimental platform based on a monocular camera and the planetary rover wheel-on-limb system to experimentally validate and comparatively analyze the proposed method. The experimental results demonstrate that the method effectively provides information on the wheel sinkage of the planetary rover wheel-on-limb system, and the relative errors of the method do not exceed 4%. The method has high accuracy and reliability and is greatly significant for the safety and passability of planetary rovers in soft and rugged terrain.

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Measurement of stress distributions of a wheel with grousers traveling on loose soil

Cited by 5 publications

References 7 publications

Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges

Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges

Initial Design Characteristics, Testing and Performance Optimisation for a Lunar Exploration Micro-Rover Prototype

A Real-Time Sinkage Detection Method for the Planetary Robotic Wheel-on-Limb System via a Monocular Camera

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