— In this paper, a path planning and its evaluation method is described with taking into account wheel slip dynamics of lunar/planetary exploration rovers. The surface of the pla...
This paper introduces a novel method for slip angle estimation based on visually observing the traces produced by the wheels of a robot on soft, deformable terrain. The proposed a...
This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the ...
— For a mobile robot it is critical to detect and compensate for slippage, especially when driving in rough terrain environments. Due to its highly unpredictable nature, drift la...
— In this paper, we propose an action planning algorithm and its evaluation method based on dynamic simulation for a novel type of hybrid leg-wheel rover for planetary exploratio...
Eric Rohmer, Giulio Reina, Genya Ishigami, Keiji N...