An Active Suspension System for a Planetary Rover
Florian Cordes, Christian Oekermann, Ajish Babu, Daniel Kuehn, Tobias Stark, Frank Kirchner
In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014), (iSAIRAS-2014), 17.6.-19.6.2014, Montreal, o.A., Jun/2014.
This paper presents the lessons learned from the design and control of the exploration rover Sherpa (c.f. Figure 1(a)). The mechanical design of the rover as well as its locomotion control are addressed. Achievements and drawbacks from the initial design of Sherpa are outlined and lead to a discussion of the revised design of the active suspension. A revised locomotion control software is currently under development and part of the discussion in the full paper. Sherpa makes use of an active suspension system to enhance locomotion capabilities . In literature various rover systems using an active suspension approach are present. (Tri-)Athlete , Scarab , MTR  are only a few examples of wheeled-robots with an active suspension system.