Ground Adaption Process for SherpaTT

Ajish Babu

DFKI GmbH DFKI Documents (D) 16-01 3/2016.


The presentation shows the initial results from the Ground Adaption Process (GAP) for the planetary rover SherpaTT with active suspension. The GAP process makes use of the sensory outputs from force-torque sensors attached to each wheel and the Inertial Measurement Unit. The process satisfies the two primary objectives of maintaining a desired roll and pitch of the body of the rover and distributing the forces evenly on all wheels. The experiments produced good results with roll and pitch errors within 0.5deg and force deviation within 100N.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence