Rover demonstrator for moon exploration

Boissier, L.; Maréchal, Luc

doi:10.1007/bf00710800

Cited by 7 publications

(3 citation statements)

References 3 publications

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“…Indeed, the constraints on the communications with Earth call for vehicles able to autonomously perform experiments and data collection tasks. Such a challenge has motivated roboticists for over 15 years, from pioneer work in the US in the 1980s-e.g., the robots Robby (Miller et al 1989) and Ambler (Bares et al 1989)-to most recent developments throughout the world (Boissier and Marechal 1995;Maurette 1998;Putz 2000;Kubota et al 2001;Schenker et al 2001). Moreover, the study of autonomous rovers in a planetary exploration context is also relevant for several applications on Earth: scientific exploration in Antarctica (Moorehead et al 1999), demining (DeBolt et al 1997, military applications (Krotkov and Bitch 1999), surveillance, etc.…”

Section: Introductionmentioning

confidence: 98%

Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

et al. 2002

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Autonomous long-range navigation in partially known planetarylike terrains is still an open challenge for robotics. Navigating hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to control its motions and to localize itself as it moves. All these activities have to be scheduled, triggered, controlled and interrupted according to the rover context. In this paper, we briefly review some functionalities that have been developed in our laboratory, and implemented on board the Marsokhod model robot, Lama. We then present how the various concurrent instances of the perception, localization and motion generation functionalities are integrated. Experimental results illustrate the functionalities throughout the paper.

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Section: Introductionmentioning

confidence: 98%

Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

et al. 2002

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“…Mobile robot which controlled by tele-manipulation can enter the dangerous environment and complete the complex task [4]- [6]. At the same time, it has been applied in the exploring of lunar [7]- [9]. Master-slave system is a typical tele-operation system [10] [11], which main includes two parts: the master system and the slave system.…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel Tele-rehabilitation System

Song

Guo

2006

2006 IEEE International Conference on Robotics and Biomimetics

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A tele-rehabilitation system is introduced in this paper. The system consists of a master system and a slave system. The master system includes a haptic device (PHANTOM Omni), and the slave system includes a 6-DOF robot arm. The patient hand is fixed to the robot arm, so the therapist can move the patient hand along the predefined track through tele-operation. According to the vision feedback and force feedback, the therapist can adjust his operation. Furthermore, a force tracking experiment has also been performed, and the tracking result can be used to appraise the tele-rehabilitation performance. From the tele-operation experimental result, we can see that the system has good operability, and the agility of upper limbs has been improved greatly.

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Section: Introductionmentioning

confidence: 99%

Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

Lacroix

Mallet

Bonnafous

et al. 2002

The International Journal of Robotics Research

148

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Autonomous long range navigation in partially known planetary-like terrain is on open challenge for robotics. Navigating several hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to localize itself as it moves, and to schedule, start, control and interrupt these various activities. In this paper, we briefly describe some functionalities that are currently being integrated on board the Marsokhod model robot Lama at LAAS/CNRS. We then focus on the necessity to integrate various instances of the perception and decision functionalities, and on the difficulties raised by this integration.

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Rover demonstrator for moon exploration

Cited by 7 publications

References 3 publications

Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

Development of a Novel Tele-rehabilitation System

Autonomous Rover Navigation on Unknown Terrains: Functions and Integration

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