Study on the Traveling Performance in the Diagonal Direction for the Wheel-Walking Rover
Pages 70 - 74
Abstract
Direct planetary exploration by a wheeled rover is a useful method. However, the wheeled rovers become easily stuck on the planet's surface with loose soil. To solve this problem, some studies have developed wheel-walking rovers. However, the turning motion of the wheel-walking rover equipped with minimal actuators has not been developed. This paper, therefore, proposes a turning motion for a wheel-walking rover, which has a simple structure. The proposed turning motion is composed of skid-steering and extending motion. To confirm the effectiveness of the proposed method, this paper performed a turning experiment on the sloped surface. The turning experiment on the sloped surface indicated that the proposed turning method suppressed the slip during turning motion compared with the conventional skid-steering method.
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Published In
September 2023
335 pages
ISBN:9798400708039
DOI:10.1145/3655532
Copyright © 2023 ACM.
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Association for Computing Machinery
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Publication History
Published: 28 June 2024
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ICRSA 2023
ICRSA 2023: 2023 the 6th International Conference on Robot Systems and Applications
September 22 - 24, 2023
Wuhan, China
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