In this paper, a robot with advanced mobility features is presented and its locomotion performance is evaluated, following an analytical approach via extensive simulations. The vehicle features an independently controlled 4-wheel-drive/4-wheel-steer architecture and it also employs a passive rocker-type suspension system that improves the ability to traverse uneven terrain. An overview of modeling techniques for rover-like vehicles is introduced. First, a method for formulating a kinematic model of an articulated vehicle is presented. Next, a method for expressing a quasi-static model of forces acting on the robot is described. A modified rocker-type suspension is also proposed that enables wheel camber change, allowing each wheel to keep an upright posture as the suspension conforms to ground unevenness.
On the Mobility of All-Terrain Rovers
REINA, GIULIO;
2013-01-01
Abstract
In this paper, a robot with advanced mobility features is presented and its locomotion performance is evaluated, following an analytical approach via extensive simulations. The vehicle features an independently controlled 4-wheel-drive/4-wheel-steer architecture and it also employs a passive rocker-type suspension system that improves the ability to traverse uneven terrain. An overview of modeling techniques for rover-like vehicles is introduced. First, a method for formulating a kinematic model of an articulated vehicle is presented. Next, a method for expressing a quasi-static model of forces acting on the robot is described. A modified rocker-type suspension is also proposed that enables wheel camber change, allowing each wheel to keep an upright posture as the suspension conforms to ground unevenness.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
