A system that enables continuous slip compensation for a Mars rover has been designed, implemented, and field-tested. This system is composed of several components that allow the rover to accurately and continuously follow a designated path, compensate for slippage, and reach intended goals in high-slip environments. These components include: visual odometry, vehicle kinematics, a Kalman filter...

This paper presents a stair-climbing mobile platform built on the Rocker–Bogie mechanism which enables to effectively climb up/down various sizes of stairs in indoor environments without violating its mobile stability. First, the link parameters of Rocker–Bogie mechanism are optimally chosen via the Taguchi method in order to make the trajectory of its center of mass (CM) as smooth as possible,...

Abstract Robotic rovers equipped with articulated rocker-bogie suspension have aroused great interest after the explorations on Mars; this has also shifted to different types of terrestrial applications such as in agriculture, military, and rescue fields. The can be designed so that, when rover is flat horizontal ground, weight evenly distributed among wheels; way, all wheels same traction capa...

En la presente investigación se diseña y valida una geometría de suspensión tipo Rocker-Bogie basados en el análisis grados libertad para su futura implementación dentro del sector industria exploración espacial. Ello tiene como finalidad principal recolección, transporte basura desperdicios a sectores estratégicos las instalaciones, sorteando obstáculos diferente nivel, aunque también podría a...

Active steering system of railway vehicles has proven its ability to bridge the gap between stability and curve friendliness. Generally scaled railway vehicles were developed to reproduce the fundamental dynamic behavior of the full size railway vehicle in laboratory conditions. This paper describes the design of the braking/traction control systems as a part of a 1/5 scaled railway vehicle for...

Reduction of the force interaction between vehicle and track is strongly desirable for many reasons. Because conventional methods reduction wheel-rail contact forces, based on tuning suspension parameters or utilising various mechanisms acting wheelsets, bogie-frames car-body, reach their limits, active controlled systems are becoming a promising solution problem. The paper created within proje...