Kinematic discussion and development of a multi-legged planetary exploration rover with an isotropic leg arrangement

Shinji Nishikori, Shinji Hokamoto, Takashi Kubota

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

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 languageEnglish
Pages (from-to)789-804
Number of pages16
JournalAdvanced Robotics
Volume25
Issue number6-7
DOIs
Publication statusPublished - Apr 20 2011

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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