Sherpa in TransTerrA: SherpaTT
In Proceedings of the RIC Project Day Workgroups ‘Electronic Design’ and ‘Mechatronic Design’, 24.7.2014, Bremen, Selbstverlag, series DFKI Documents, volume 14-05, pages 66-77, Jul/2014. DFKI Robotics Innovation Center Bremen. DFKI GmbH. ISBN: ISSN 0946-0098.
The presentation focuses on the hybrid walking-driving rover Sherpa and its successor SherpaTT. Sherpa(TT) has an active suspension system to actively conform to irregular terrain. The mechanical design of the first version is discussed, its benefits and drawbacks are highlighted. The derived design improvements are presented. The talk concludes with the first steps in setting up a new motion control system for SherpaTT, that were conducted in DFKI’s MARS simulation environment.