The Rocky 7 rover: a Mars sciencecraft prototype

Hayati, S.; Volpe, R.; Backes, Paul; Balaram, J.; Welch, Richard V.; Ivlev, R.; Tharp, Gregory K.; Peters, Sheila Annie; Ohm, Timothy R.; Petráš, R.; Laubach, Sharon

doi:10.1109/robot.1997.619330

Cited by 83 publications

(28 citation statements)

References 6 publications

(1 reference statement)

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“…The JPL-NASA micro-rover Rocky 7 [4][5] [6] was used as test vehicle for the testing of continuous driving of a Long Range Autonomous Space Rover. Rocky 7 (see Figure 10) is a research micro-rover used to demonstrate new technology concepts for use in a long range (> 1 km) traversal across Mars, scheduled for early in the next decade.…”

Section: Experimental Results: Continuous Drivingmentioning

confidence: 99%

Fuzzy reactive piloting for continuous driving of long range autonomous planetary micro-rovers

Martin-Alvarez

Volpe

Hayati

et al. 1999

1999 IEEE Aerospace Conference. Proceedings (Cat. No.99TH8403)

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Abstract-A complete piloting control subsystem for a highly autonomous long range rover will be defined in order to identify the key control functions needed to achieve continuous driving. This capability can maximize range and number of interesting scientific sites visited during the limited life time of a planetary rover. To achieve continuous driving, a complete set of techniques have been employed: fuzzy based control, real-time artificial intelligence reasoning, fast and robust rover position estimation based on odometry and angular rate sensing, efficient stereo vision elevation maps based on grids, and fast reaction and planning for obstacle detection and obstacle avoidance based on a simple IF-THEN expert system with fuzzy reasoning. To quickly design and implement these techniques, graphical programming has been used to build a fully autonomous piloting system using just the techniques of classic control concepts of cyclic data processing and event driven reaction. Experimental results using the JPL rover Rocky 7 will be given in order to validate the mentioned techniques for continuous driving.

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Section: Experimental Results: Continuous Drivingmentioning

confidence: 99%

Fuzzy reactive piloting for continuous driving of long range autonomous planetary micro-rovers

Martin-Alvarez

Volpe

Hayati

et al. 1999

1999 IEEE Aerospace Conference. Proceedings (Cat. No.99TH8403)

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“…The contact surface between the wheel and the ground is simplified as the contact point because of assumption 3. Planet rovers: (a) Sojourner Martian rover, 2 (b) SDM prototype device, 3 (c) Rocky 7 prototype device, 4,5 (d) Spirit Martian rover, 6 (e) six-wheeled rocker lunar rover, 7 and (f) six cylinder-conical wheeled lunar rover. 8 According to the above assumptions, the model of the six-wheeled rocker lunar rover is simplified as shown in Figure 2.…”

Section: Basic Assumptionsmentioning

confidence: 99%

Coordinated motion control model of a six-wheeled rocker lunar rover

Ding

Hou

Xue

et al. 2016

Advances in Mechanical Engineering

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At present, control methods of the six-wheeled rocker lunar rover primarily consist of setting the same driving parameters for each wheel. This type of control method ignores the multiple active driving characteristics of the lunar rover and causes parasitic power loss. The main cause of the parasitic power loss is the uncoordinated motion of the driving elements. Therefore, in this article, a coordinated motion programming model of the six-wheeled rocker lunar rover based on the velocity projection theorem, the quasi-static mechanical model, and the rated power of the motor is established to eliminate parasitic loss, reduce driving energy, and improve energy efficiency. The analytical solution of the programming model based on the Kuhn-Tucker condition is also calculated. The coordinated motion control model saves energy, and it is suitable for other wheeled-type planet rovers. This model provides technical support for reducing the energy consumption of planet rovers.

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“…In order to have equal load on all wheels the horizontal position of the COM is slightly shifted forward. Other robots like Rocky7 [11], FIDO [12] and Sojourner [13] are based on very similar locomotion systems with small changes (e.g. unequal load on wheels).…”

Section: A Mars Exploration Rover (Mer)mentioning

confidence: 99%

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

Thueer

Krebs

Siegwart

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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-Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimize the required friction which is an important performance metric. The evaluation comprises well known rover concepts and new suspension systems. The performance of the systems is compared and interesting effects of some concepts are discussed in more detail including torques and load distribution. The rovers MER (NASA) and CRAB (EPFL) show good performance which is topped only by the eight wheeled DoubleSpring system.

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The Rocky 7 rover: a Mars sciencecraft prototype

Cited by 83 publications

References 6 publications

Fuzzy reactive piloting for continuous driving of long range autonomous planetary micro-rovers

Fuzzy reactive piloting for continuous driving of long range autonomous planetary micro-rovers

Coordinated motion control model of a six-wheeled rocker lunar rover

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

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