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An Expandable Mechanism for Deployment and Contact Surface Adaptation of Rover Wheels [chapter]

Philippe Bidaud, Faiz Benamar, Sébastien Poirier
2006 Climbing and Walking Robots  
In this paper, an expandable mechanism for unfolding wheels is proposed. This mechanisms combines 2 elementary mechanisms.  ...  One allows the deployment of the rim the other one ensuring the contact shape adaptation.  ...  Conclusion This paper has presented an original mechanism designed for creating a deployable wheel with a contact shape adaptation.  ... 
doi:10.1007/3-540-26415-9_126 dblp:conf/clawar/BidaudAP05a fatcat:dumbgtoghreotjyent2nf6gzaq

A low-cost autonomous rover for polar science

Andrew O. Hoffman, Hans Christian Steen-Larsen, Knut Christianson, Christine Hvidberg
2019 Geoscientific Instrumentation Methods and Data Systems Discussions  
</strong> We present the developmental considerations, design, and deployment of an autonomous modular terrestrial rover for ice-sheet exploration that is inexpensive, easy to construct, and allows for  ...  Due to its low cost, low-power requirements, and simple modular design, mass deployments of this rover design are practicable.  ...  We thank Karl-Emil and the NBI workshop for their help in the rover-design process.  ... 
doi:10.5194/gi-2018-52 fatcat:zz7td2tlandercl2xoqz3b2pqq

A low-cost autonomous rover for polar science

Andrew O. Hoffman, Hans Christian Steen-Larsen, Knut Christianson, Christine Hvidberg
2019 Geoscientific Instrumentation, Methods and Data Systems  
</strong> We present the developmental considerations, design, and deployment of an autonomous modular terrestrial rover for ice-sheet exploration that is inexpensive, easy to construct, and allows for  ...  Due to its low cost, low-power requirements, and simple modular design, mass deployments of this rover design are practicable.  ...  We thank Karl-Emil and the NBI workshop for their help in the rover design process. The authors thank two anonymous reviewers for their comments, which substantially improved this paper.  ... 
doi:10.5194/gi-8-149-2019 fatcat:4xtam4sdkfhuxfnkpx6uxhatse

Variable Constraint Mechanism and Its Application for Design of Mobile Robots

Shigeo Hirose
2000 The international journal of robotics research  
, an autonomous multisection robot, and a planetary rover with collapsible frame and compressible wheels.  ...  The paper discusses some of the generalized design principles for the mechanism and shows some example robotic systems, including an adjustable leg-length walking robot, a legged and wheeled hybrid vehicle  ...  Acknowledgments A portion of this research is supported by the COE Research Project "Super Mechano-Systems" by the Ministry of Education, Science, Sport and Culture, Japan.  ... 
doi:10.1177/02783640022067904 fatcat:easusxk4vfex3kjwzl4wydqapa

Axel rover paddle wheel design, efficiency, and sinkage on deformable terrain

Pablo Abad-Manterola, Joel W Burdick, Issa A D Nesnas, Sandeep Chinchali, Christine Fuller, Xuecheng Zhou
2010 2010 IEEE International Conference on Robotics and Automation  
Finally, we present an unfolding wheel prototype which allows Axel to be compacted for efficient transport.  ...  We also adapt basic terramechanics principles to estimate the sinkage of paddle wheels on loose sand.  ...  and the point of contact of the obstacle along the rim of the wheel.  ... 
doi:10.1109/robot.2010.5509391 dblp:conf/icra/Abad-ManterolaBNCFZ10 fatcat:igk4bvgwv5gjhjb2pkb73na3z4

Achievements in space robotics

Kazuya Yoshida
2009 IEEE robotics & automation magazine  
Keisuke Sato for providing the navigation data of El Dorado-II rover in ICRA 2009 Planetary Exploration Challenge.  ...  Rick Wagner at Northrop Grumman Space Technology and Dr. Richard Volpe at JPL for their editorial assistance, and Dr. Kaiji Nagatani and Mr.  ...  Achievements in Space Robotics Expanding the Horizons of Service and Exploration BY KAZUYA YOSHIDA O uter space is an ultimate field for the application of robotics technology.  ... 
doi:10.1109/mra.2009.934818 fatcat:uenga6mvdndexmfmxaodxni2wq

Development of a Novel Variable-Diameter Wheel

Wen Zeng, Guoyan Xu, Hui Jiang, Feng Gao
2019 Applied Sciences  
Variable-diameter wheels balance the high mobility and limited volume of a planetary rover. Moreover, these wheels allow a rover to adjust its body attitude to adapt to rough terrains.  ...  Furthermore, the design and analysis approaches used in this study are applicable for other expandable wheels.  ...  A repeatedly deployable compliant mechanism in the radial plane is desired for an expandable wheel.  ... 
doi:10.3390/app9214631 fatcat:kh2cgaj6tvcnpmkkee65p4yuia

Common Situation Awareness as Basis for Human-Robot Interface [chapter]

A. Halme
2006 Climbing and Walking Robots  
Mobile mini-robots for space application p. 1037 Teleagents for space exploration and exploitation in future human planetary missions p. 1045 An expandable mechanism for deployment and contact surface  ...  system for the humanoid robot Rh-0 p. 449 Humanoid vertical jump with compliant contact p. 457 A 3D galloping quadruped robot p. 467 Kineto-static analysis of an articulated six-wheel rover  ... 
doi:10.1007/3-540-26415-9_1 dblp:conf/clawar/Halme05 fatcat:egsro4muxve47ilmowjv6fsr3m

Miniature robots for space and military missions

C.R. Weisbin, J. Blitch, D. Lavery, E. Krotkov, C. Shoemaker, L. Matthies, G. Rodriguez
1999 IEEE robotics & automation magazine  
Technology to sense and perceive the environment, and to autonomously plan and execute navigation maneuvers and other remote tasks, is an important requirement for both planetary and surface robots and  ...  for urban terrain robotic assistants.  ...  ACKNOWLEDGEMENTS The outstanding contributions of the multi-institutional team involved in the tactical mobile robotics for urban terrain operations technology development task described in this paper  ... 
doi:10.1109/100.793696 fatcat:4s7aasg6bbbctgmeemutif43ie

TerminatorBot: A Novel Robot With Dual-Use Mechanism for Locomotion and Manipulation

R.M. Voyles, A.C. Larson
2005 IEEE/ASME transactions on mechatronics  
Its two 3 degreeof-freedom arms, which stow inside the cylindrical body for ballistic deployment and protected transport, comprise a dualuse mechanism for manipulation and locomotion.  ...  This paper describes the mechanism and design of TerminatorBot, the specialized force/torque sensor, and the mechanism-specific gaits.  ...  ACKNOWLEDGMENTS We thank Monica LaPoint for her development of the PDA interface and assistance with visual servoing, and Berk Yesin for the use of his SSD tracking code.  ... 
doi:10.1109/tmech.2004.842245 fatcat:d7fsq3t62ncxpbwsu74zycpdzy

CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration

T. Huntsberger, P. Pirjanian, A. Trebi-Ollennu, H.D. Nayar, H. Aghazarian, A.J. Ganino, M. Garrett, S.S. Joshi, P.S. Schenker
2003 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms.  ...  In this paper, we describe CAMPOUT, and its application to ongoing physical experiments with multirobot systems at the Jet Propulsion Laboratory in Pasadena, CA, for exploration of cliff faces and deployment  ...  These missions include the use of multiple, heterogeneous, mobile robotic platforms for surface exploration and infrastructure deployment.  ... 
doi:10.1109/tsmca.2003.817398 fatcat:thg2y77vjjcodjphnttfcoviba

Predicting Terrain Mechanical Properties in Sight for Planetary Rovers with Semantic Clues [article]

Ruyi Zhou, Wenhao Feng, Huaiguang Yang, Haibo Gao, Nan Li, Zongquan Deng, Liang Ding
2020 arXiv   pre-print
In-situ proprioceptive processes for rovers to estimate terrain mechanical properties need to experience different slip as well as sinkage and are helpless to untraversed regions.  ...  Non-geometric mobility hazards such as rover slippage and sinkage posing great challenges to costly planetary missions are closely related to the mechanical properties of terrain.  ...  ACKNOWLEDGMENT The authors would like to thank Lan Huang, Huanan Qi, in particular Lan Huang for developing and providing the mobile rover for experiments.  ... 
arXiv:2011.01872v1 fatcat:5gtjcl6divgtzi7khd6ytluomu

An overview of robotics and autonomous systems for harsh environments

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2017 2017 23rd International Conference on Automation and Computing (ICAC)  
This paper reviews some key application areas of robotics that involve interactions with harsh environments (such as search and rescue, space exploration, and deep-sea operations), gives an overview of  ...  the developed technologies and provides a discussion of the key trends and future directions common to many of these areas.  ...  For example, the deployment of the Curiosity Rover in 2011 to go where no man has gone and explore the surface of Mar was a key milestone that showcases just some of the possibilities that may be realized  ... 
doi:10.23919/iconac.2017.8082020 dblp:conf/iconac/WongYYG17 fatcat:dgulqodjdnaxhbdapocu6skfve

Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2018 Systems Science & Control Engineering  
Key examples of these deployments are studied with an analysis on how high-level autonomy is a key issue that must be addressed.  ...  2018) Autonomous robots for harsh environments : a holistic overview of current solutions and ongoing challenges. Systems Science and Control Engineering, 6 (1).  ...  Aswath et al. (2015) proposed a rover that adopts the same rocker-bogie suspension mechanism from the Curiosity rover and carries an additional mechanical arm and humanoid robot onboard.  ... 
doi:10.1080/21642583.2018.1477634 fatcat:pkbtyuyy7vaizbuzkmsxs56lg4

Review on space robotics: Toward top-level science through space exploration

Yang Gao, Steve Chien
2017 Science Robotics  
We provide an overview of space robotics as a rapidly emerging field, covering basic concepts, definitions, historical context, and evolution.  ...  Space robotics represents several key enablers to a wide range of future robotic and crewed space missions as well as opportunities for knowledge and technology transfer to many terrestrial sectors.  ...  Acknowledgments: We thank the reviewers for many helpful comments to improve the  ... 
doi:10.1126/scirobotics.aan5074 pmid:33157901 fatcat:rrivcnwp2fdjlcs5ytva6efhsm
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