Improved Rover Mobility over Loose Deformable Slopes through Active Control of Body-Rotating Mechanism

Lv，Shipeng; Zhao，Yuntian; Chen，Zhenyang; Gao，Chengyuan; Hu，Longteng; Jia，Zhenzhong

10.1109/M2VIP49856.2021.9665101

2021

27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

978-1-6654-3154-5

2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021

606-611

NOV 26-28, 2021

null,Shanghai,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Changing the center of mass (COM) by adjusting rover's posture is a commonly used design and control strategy to improve its mobility over sandy slopes. Different from traditional passive/active suspension system and wheel-leg designs, we use a novel rover design for improved sloped mobility over soft terrains. Our rovers consist of a mobile base (with differential suspension), a main body, and a 2-degree-of-freedom (2-DOF) body-rotating mechanism that can change the pose of the main body relative to the mobile base. By taking full advantage of the main body weight which accounts for most of the robot weight, we can effectively adjust the rover COM and load distributions for improved mobility. Based on mechanics analysis, the wheel-load model and terramechanics model, we propose a control strategy for slope climbing and traversing tasks. When given input information such as slope angle and travel direction, the control algorithm can adjust the rover posture for optimal mobility over slopes. Experimental results indicate that the proposed design and control strategy can effectively improve the rover mobility performance (improved traction, reduced slippages) over soft sloped terrains.

Analytical models Mechatronics Machine vision Mobile robots Task analysis Load modeling

第一 ; 通讯

英语

CPCI-S ; EI

Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004];

Automation & Control Systems ; Computer Science ; Engineering

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Multidisciplinary

WOS:000783817900103

20220811682714

Robotics ; Rovers ; Suspensions (components) ; Traction control

Machine Components:601.2 ; Spacecraft, General:655.1 ; Control System Applications:731.2 ; Robotics:731.5

2-s2.0-85124808603

Scopus

Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,518055,China

Lv，Shipeng,Zhao，Yuntian,Chen，Zhenyang,et al. Improved Rover Mobility over Loose Deformable Slopes through Active Control of Body-Rotating Mechanism[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:606-611.