Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems
With this dissertation, the electromechanic design, implementation, locomotion control, and experimental evaluation of a novel type of hybrid wheeled-leg exploration rover are presented. The actively articulated suspension system of the rover is the basis for advanced locomotive capabilities of a mo...
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Universität Bremen
2018
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Online Access: | https://media.suub.uni-bremen.de/handle/elib/1542 https://nbn-resolving.org/urn:nbn:de:gbv:46-00106941-11 |
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ftsubbremen:oai:media.suub.uni-bremen.de:Publications/elib/1542 2023-05-15T18:22:49+02:00 Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems Design und Experimentelle Evaluierung eines Hybriden Schreit-Fahrrovers im Kontext von Mehrrobotischen Systemen Cordes, Florian Kirchner, Frank Frese, Udo 2018-12-12 application/pdf https://media.suub.uni-bremen.de/handle/elib/1542 https://nbn-resolving.org/urn:nbn:de:gbv:46-00106941-11 eng eng Universität Bremen FB3 Mathematik/Informatik https://media.suub.uni-bremen.de/handle/elib/1542 urn:nbn:de:gbv:46-00106941-11 info:eu-repo/semantics/openAccess Rover Multi-Robot System Wheeled-Leg Active Suspension SherpaTT Sherpa 000 000 Computer science knowledge and systems ddc:000 Dissertation doctoralThesis 2018 ftsubbremen 2022-11-09T07:09:37Z With this dissertation, the electromechanic design, implementation, locomotion control, and experimental evaluation of a novel type of hybrid wheeled-leg exploration rover are presented. The actively articulated suspension system of the rover is the basis for advanced locomotive capabilities of a mobile exploration robot. The developed locomotion control system abstracts the complex kinematics of the suspension system and provides platform control inputs usable by autonomous behaviors or human remote control. Design and control of the suspension system as well as experimentation with the resulting rover are in the focus of this thesis. The rover is part of a heterogeneous modular multi-robot exploration system with an aspired sample return mission to the lunar south pole or currently hard-to-access regions on Mars. The multi-robot system pursues a modular and reconfigurable design methodology. It combines heterogeneous robots with different locomotion capabilities for enhanced overall performance. Consequently, the design of the multi-robot system is presented as the frame of the rover developments. The requirements for the rover design originating from the deployment in a modular multi-robot system are accentuated and summarized in this thesis. Doctoral or Postdoctoral Thesis South pole Media SuUB Bremen (Staats- und Universitätsbibliothek Bremen) South Pole |
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Media SuUB Bremen (Staats- und Universitätsbibliothek Bremen) |
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ftsubbremen |
language |
English |
topic |
Rover Multi-Robot System Wheeled-Leg Active Suspension SherpaTT Sherpa 000 000 Computer science knowledge and systems ddc:000 |
spellingShingle |
Rover Multi-Robot System Wheeled-Leg Active Suspension SherpaTT Sherpa 000 000 Computer science knowledge and systems ddc:000 Cordes, Florian Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems |
topic_facet |
Rover Multi-Robot System Wheeled-Leg Active Suspension SherpaTT Sherpa 000 000 Computer science knowledge and systems ddc:000 |
description |
With this dissertation, the electromechanic design, implementation, locomotion control, and experimental evaluation of a novel type of hybrid wheeled-leg exploration rover are presented. The actively articulated suspension system of the rover is the basis for advanced locomotive capabilities of a mobile exploration robot. The developed locomotion control system abstracts the complex kinematics of the suspension system and provides platform control inputs usable by autonomous behaviors or human remote control. Design and control of the suspension system as well as experimentation with the resulting rover are in the focus of this thesis. The rover is part of a heterogeneous modular multi-robot exploration system with an aspired sample return mission to the lunar south pole or currently hard-to-access regions on Mars. The multi-robot system pursues a modular and reconfigurable design methodology. It combines heterogeneous robots with different locomotion capabilities for enhanced overall performance. Consequently, the design of the multi-robot system is presented as the frame of the rover developments. The requirements for the rover design originating from the deployment in a modular multi-robot system are accentuated and summarized in this thesis. |
author2 |
Kirchner, Frank Frese, Udo |
format |
Doctoral or Postdoctoral Thesis |
author |
Cordes, Florian |
author_facet |
Cordes, Florian |
author_sort |
Cordes, Florian |
title |
Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems |
title_short |
Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems |
title_full |
Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems |
title_fullStr |
Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems |
title_full_unstemmed |
Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems |
title_sort |
design and experimental evaluation of a hybrid wheeled-leg exploration rover in the context of multi-robot systems |
publisher |
Universität Bremen |
publishDate |
2018 |
url |
https://media.suub.uni-bremen.de/handle/elib/1542 https://nbn-resolving.org/urn:nbn:de:gbv:46-00106941-11 |
geographic |
South Pole |
geographic_facet |
South Pole |
genre |
South pole |
genre_facet |
South pole |
op_relation |
https://media.suub.uni-bremen.de/handle/elib/1542 urn:nbn:de:gbv:46-00106941-11 |
op_rights |
info:eu-repo/semantics/openAccess |
_version_ |
1766202227510214656 |