Kinematics Modeling of a Hybrid Wheeled-Leg Planetary Rover
In International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS-2012), 04.9.-06.9.2012, Turin, o.A., Sep/2012.
It is the goal of this manuscript to describe and analyze a complete kinematic model for hybrid wheeled-leg rovers and its applicability to Sherpa, a flexible rover with a complex actuation system. Differential kinematic equations of the hybrid legs are combined to form the composite equation for the rover motion. The model captures the 6 DoF pose (position and orientation) while traversing uneven terrains for hybrid systems and independently actuated joints. The kinematics model is analyzed in order to correctly propagate rover pose as input for a pose estimator in localization. Initial results from simulation are discussed for Sherpa navigation kinematics towards efficient pose estimation and dead reckoning.
robot motion, wheel odometry, rover kinematics, dead reckoning and planetary rovers