Chapter
Apr 26, 2012
Design and Implementation of an Innovative Micro-Rover
Authors: Roland Siegwart, Michel Lauria, Pierre-Alain Mäusli, and Michel Van WinnendaelAuthor Affiliations
Publication: Robotics 98
Abstract
Mobile robots are of high interest for unmaned planetary exploration. The very successful Pathfinder mission to Mars has impressively demonstrated the potential of mobile platforms for planetary exploration. The European Space Agency (ESA) also started to develop concepts for micro-rovers for Mars missions. Within an interdisciplinary group of companies specialized in space applications and research labs new designs of micro-rovers have been investigated. Two concepts, a simple and robust one and an innovative one, have been selected and functional breadboard models of them are currently built. After a discussion of the key issues for robust locomotion the present paper will focus on the design and control of the more innovative solution. It consists of 6 independently driven wheels arranged in two triangles. It therefore allows not only for efficient rolling on flat surfaces but also to step on obstacles. Additionally the center of mass and the instrumentation carrousel is adjustable, allowing to optimally balance the micro-rover in almost every situation. Even after flipping over the robot will always be able to get back on its wheels.
Get full access to this article
View all available purchase options and get full access to this chapter.
Information & Authors
Information
Published In
Copyright
© 1998 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
Permissions
Request permissions for this article.
ASCE Technical Topics:
Authors
Affiliations
Roland Siegwart
Swiss Federal Institute of Technology Lausanne (EPFL), Switzerland
Michel Lauria
Swiss Federal Institute of Technology Lausanne (EPFL), Switzerland
Pierre-Alain Mäusli
MECANEX S.A., Nyon, Switzerland
Michel Van Winnendael
ESA/ESTEC, Noordwijk, The Netherlands
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
Cited by
View Options
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.