Environment–robot interaction—the basis for mobility in planetary micro-rovers

Ellery, Alex

doi:10.1016/j.robot.2004.08.007

Cited by 61 publications

(27 citation statements)

References 17 publications

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“…Hence, the problem of human-humanoid robot interaction, and humanoid robot-surrounding environment interaction are become the research topics that are gaining more and more in importance. Furthermore, contact interaction-based navigation system is practically significant for humanoid robots to accurately structure and recognize their surrounding conditions (Ellery, 2005, Salter et al, 2006. Research on groping locomotion in humanoid robot's navigation system has led to the proposal of a basic contact interaction method for humanoid robots to recognize and respond to their surrounding conditions.…”

Section: Resultsmentioning

confidence: 99%

Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle

Yussof¹,

Yamano²,

Nasu³

et al. 2006

Mobile Robots: Towards New Applications

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Section: Resultsmentioning

confidence: 99%

Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle

Yussof¹,

Yamano²,

Nasu³

et al. 2006

Mobile Robots: Towards New Applications

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“…The learning robot-environment interaction with echo state networks is presented in [30]. The interaction problem between robotic rovers and the planetary environment was studied in [31], such as mars imposes unique constraints on mobile robotics. M. Vukobratovic et al dealt with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction [32].…”

Section: Related Work and Our Contributionsmentioning

confidence: 99%

Toward a framework for robot-inclusive environments

Tan

Elara

Watanabe

2016

Automation in Construction

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“…Ellery in [17] computed the DP available to Sojourner, the 11.5kg vehicle used in the Mars Pathfinder mission, as 6.88N net of bulldozing, compaction and other resistances. In contrast, LPTPT computes DP of a 11.5kg legged vehicle, walking with a wave gait in soil with the characteristics of that at the Viking lander 2 site, as 31.5N, a very substantial increase.…”

Section: Wheeled Rover Comparisonmentioning

confidence: 99%

Walking Rover Trafficability - Presenting a Comprehensive Analysis and Prediction Tool

Yeomans

Saaj

2011

Towards Autonomous Robotic Systems

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Abstract. Although walking rovers perform well in rocky terrain, their performance over sands and other deformable materials has not been well studied. A better understanding of walking rover terramechanics will be essential if they are to be actually deployed on a space mission. This paper presents a comprehensive walking rover terramechanics model incorporating slip and sinkage dependencies. In addition to quantifying the leg / soil forces, the superior trafficability potential of a walking rover in deformable terrain is demonstrated, and a control approach is described which can reduce the risk inherent in traversing soils with unknown physical parameters. This work enhances the state of the art of legged rover trafficability and highlights some potential benefits from deploying micro-legged rovers for future surface exploration missions.Keywords: walking rover, terrain, trafficability, terramechanics, control 1 State of the Art All missions to date to other planetary bodies have employed wheeled rovers, probably because the wheel as a means of locomotion is quite energy efficient, wheeled vehicle technology is well known and extensively studied, the wheel itself is a mechanically simple device even if the full vehicle is very complex, and as a consequence there is extensive Space heritage.Despite this sucessful track record, there are some challenges. A wheeled rover cannot climb very steep slopes or traverse extremely high relief regions. Also soft, sandy terrain presents a significant risk of complete mission failure; both Mars Exploration Rovers have been stuck at some time, Spirit probably permanently so -see Fig. 1. It is also very likely that the performance expectations of rovers deployed on future missions will increase; mission planners will be aware that many of the most interesting scientific sites are in hard to reach locations high up in the cliffs and gullies of Mars, and in the rugged and often permanently shadowed cratered areas of the Lunar polar regions. Accessing these sites will demand excellent rover trafficability over many types of terrain, and there must be some question whether wheeled vehicle technology can adequately meet the greater challenge.Walking rovers may offer a highly effective alternative solution. Walking vehicle capability on steep, rocky terrain has been studied on a number of occasions,

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Environment–robot interaction—the basis for mobility in planetary micro-rovers

Cited by 61 publications

References 17 publications

Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle

Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle

Toward a framework for robot-inclusive environments

Walking Rover Trafficability - Presenting a Comprehensive Analysis and Prediction Tool

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