Abstract
This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. The legged rover is a reliable rover system for exploration on rough terrains, because it can continue walking even after overturning. Moreover, the legged rover can also show a rotational motion by utilizing its isotropic shape. This paper discusses the walking performance of two types of rover shapes: one has a six-leg arrangement based on a regular octahedron and the other has an eight-leg arrangement based on a regular hexahedron. The design procedure of the proposed rover is explained, and a test-bed system, which is developed to demonstrate the fundamental motions, is also presented.
Original language | English |
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Pages (from-to) | 789-804 |
Number of pages | 16 |
Journal | Advanced Robotics |
Volume | 25 |
Issue number | 6-7 |
DOIs | |
Publication status | Published - Apr 20 2011 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications