Rocky 7: a next generation Mars rover prototype

Abstract

This paper provides a system overview of a new Mars rover prototype, Rocky 7 1. We describe all system aspects: mechanical and electrical design, computer and software infrastructure, algorithms for navigation and manipulation, science data acquisition, and outdoor rover testing. In each area, the improved or added functionality is explained in a context of its path to ight, and within the constraints of desired science missions.

Motion kinematics analysis of wheeled–legged rover over 3D surface with posture adaptation

“…Rovers such as Sojourner [1], Shrimp [2], Nomad [3] are articulated multibody structure permitting a passive adaptation to ground surface. Whereas, new kinematics of rovers like SRR [4], Gofor [5] or Lama [6] use an active suspension allowing control of some attitude parameters of the robot.…”

Space Robotics

“…Here, a six wheeled rover with a rocker-bogie suspension [56] is assumed for the kinematic analysis. This configuration was used to evaluate the Sojourner, MER (Spirit and Opportunity), and Curiosity rovers [57,58]. In addition, this subsection also addresses a kinematic constraint model for a four-wheeled rover experiencing wheel/vehicle slips.…”

Mobile Platform with Leg-Wheel Mechanism for Practical Use

“…Because of their stability, maneuverability, and simple controls, wheels are the most frequently used mechanism for exploration rovers. Examples of wheeled mobile robots are Micro5 (Kubota et al 2003), Rocky7 (Volpe et al 1997), Shrimp (Siegwart et al 2002), CRAB (Thueer et al 2006), and Zaurus (Sato et al 2007). These have passive linkage mechanisms.…”