Terrain Response Estimation Using an Instrumented Rocker-Bogie Mobility System

Abstract

This paper presents a procedure to model the drawbar pull and resistive torque of an unknown terrain as a function of normal load and slip using on-board rover instruments. Kapvik , which is a planetary micro-rover prototype with a rocker-bogie mobility system, is simulated in two dimensions. A suite of sensors is used to take relevant measurements; in… (More)
DOI: 10.1109/TRO.2012.2223591

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Cite this paper

@article{Setterfield2013TerrainRE, title={Terrain Response Estimation Using an Instrumented Rocker-Bogie Mobility System}, author={Timothy P. Setterfield and Alex Ellery}, journal={IEEE Transactions on Robotics}, year={2013}, volume={29}, pages={172-188} }