Publication

Kinematics Modeling of a Hybrid Wheeled-Leg Planetary Rover

Javier Hidalgo Carrió, Florian Cordes

In: International Symposium on Artificial Intelligence, Robotics and Automation in Space. International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS-2012) September 4-6 Turin Italy 9/2012.

Abstract

It is the goal of this manuscript to describe and analyze a complete kinematic model for hybrid wheeled-leg rovers and its applicability to Sherpa, a flexible rover with a complex actuation system. Differential kinematic equations of the hybrid legs are combined to form the composite equation for the rover motion. The model captures the 6 DoF pose (position and orientation) while traversing uneven terrains for hybrid systems and independently actuated joints. The kinematics model is analyzed in order to correctly propagate rover pose as input for a pose estimator in localization. Initial results from simulation are discussed for Sherpa navigation kinematics towards efficient pose estimation and dead reckoning.

Projekte

Weitere Links

121004_Kinematics_Modeling_of_a_Hybrid_Wheeled-Leg_Planetary_Rover_iSAIRAS_Hidalgo.pdf (pdf, 2 MB)

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz