Predict the Rover Mobility Over Soft Terrain Using Articulated Wheeled Bevameter

Zhang, Wenyao; Lv, Shipeng; Xue, Feng; Yao, Chen; Zhu, Zheng; Jia, Zhenzhong

doi:10.1109/lra.2022.3211153

Cited by 10 publications

(2 citation statements)

References 39 publications

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“…An example is shown in ref. [18]; we can use our method by the remote articulated wheeled bevameter to detect the contact parameters. Furthermore, these methods only focus on the start and terminal states while ignoring the contact information during the contact process.…”

Section: Related Workmentioning

confidence: 99%

A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains

Lyu,

Zhang,

Yao

et al. 2024

Robotica

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In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe the contact events in the same framework for robots operated at different modes (e.g., wheel, leg), we propose a unified description of contact parameters for multi-modal robots. We also provide a parameter estimation method for multi-modal robots based on CNN and DWT (discrete wavelet transformation) techniques and verify its effectiveness over different types of granular terrains. Besides motion modes, this paper also considers the influence of slope angles and the robot’s handing angles over contact parameters. Through comparison and analysis of the prediction results, our method can not only effectively predict the contact parameters of multi-modal robot locomotion on a granular medium (better than $96\%$ accuracy) but also achieves the same or better performance when compared to other (direct) contact measurement methods designed for individual motion modes, that is, single-modal robots such as quadruped robots and mars rovers. Our proposed unified contact parameter estimation method can be useful for studying the interaction mechanics between multi-modal robots and granular terrains as well as terrain classification tasks due to its superior sensitivity which is analyzed in the experiments.

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Section: Related Workmentioning

confidence: 99%

A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains

Lyu,

Zhang,

Yao

et al. 2024

Robotica

Self Cite

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show abstract

“…However, this method is not useful for untraversed areas as it requires a history of measurement data. To measure the terramechanic parameters ahead of the rover, (Zhang W. et al, 2022b), proposed use of an articulated wheeled bevameter equipped with force and vision sensors to predict the slip and sinkage of wheels. An in-situ method for estimating sinkage was given in (Guo et al, 2020) that defines a new reference line of wheel sinkage and simplifies terramechanics into closed-form equations using force/ torque sensors.…”

Section: Terramechanics and Dynamicsmentioning

confidence: 99%

Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Zarei

Chhabra²

2022

Front. Space Technol.

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Mobility analysis is crucial to fast, safe, and autonomous operation of planetary Wheeled Mobile Robots (WMRs). This paper reviews implemented odometry techniques on currently designed planetary WMRs and surveys methods for improving their mobility and traversability. The methods are categorized based on the employed approaches ranging from signal-based and model-based estimation to terramechanics-based, machine learning, and global sensing techniques. They aim to detect vehicle motion parameters (kinematic states and forces/torques), terrain hazards (slip and sinkage) and terrain parameters (soil cohesion and friction). The limitations of these methods and recommendations for future missions are stated.

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Experimental study and analysis of the position and attitude deviation of planetary rover during driving

Jia,

Jin,

Dong

et al. 2024

Journal of Terramechanics

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Predict the Rover Mobility Over Soft Terrain Using Articulated Wheeled Bevameter

Cited by 10 publications

References 39 publications

A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains

A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains

Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Experimental study and analysis of the position and attitude deviation of planetary rover during driving

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