%0 Conference Paper %1 IROS2022_1 %A Zevering, J. %A Borrmann, D. %A Bredenbeck, A. %A Nüchter, A. %B IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '22) %C Kyoto, Japan %D 2022 %K imported myown %P 5656--5663 %R 10.1109/IROS47612.2022.9981887 %T The concept of rod-driven locomotion for spherical lunar exploration robots %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/iros2022_1.pdf %X A spherical robotic probe has several advantages in rough environments and has therefore raised interest for application in planetary exploration. A sphere is well-suited to protect high-sensitive payloads, however, the locomotion system for planetary surfaces raises several challenges. This paper presents a novel locomotion system consisting of linear actuators which are usable in a multi-functional fashion. Apart from pushing and bringing leverage for locomotion the extendable rods enable a tripod mode for improved sensing. The developed solutions offer a mathematical-physical system description, simple algorithms for the control of locomotion and balancing as well as general calculations for determining the maximum achievable performance parameters of such a robot. The first built prototype shows the basic suitability of the system and reveals directions for further research.

@inproceedings{IROS2022_1, abstract = {A spherical robotic probe has several advantages in rough environments and has therefore raised interest for application in planetary exploration. A sphere is well-suited to protect high-sensitive payloads, however, the locomotion system for planetary surfaces raises several challenges. This paper presents a novel locomotion system consisting of linear actuators which are usable in a multi-functional fashion. Apart from pushing and bringing leverage for locomotion the extendable rods enable a tripod mode for improved sensing. The developed solutions offer a mathematical-physical system description, simple algorithms for the control of locomotion and balancing as well as general calculations for determining the maximum achievable performance parameters of such a robot. The first built prototype shows the basic suitability of the system and reveals directions for further research.}, added-at = {2022-06-30T17:10:42.000+0200}, address = {Kyoto, Japan}, author = {Zevering, J. and Borrmann, D. and Bredenbeck, A. and N{\"u}chter, A.}, biburl = {https://www.bibsonomy.org/bibtex/2bf0c6988e1366b3b2e013dd68af559e2/nuechter76}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '22)}, doi = {10.1109/IROS47612.2022.9981887}, interhash = {994567b9a89a119ba7e9840d88e625c7}, intrahash = {bf0c6988e1366b3b2e013dd68af559e2}, keywords = {imported myown}, month = {October}, pages = {5656--5663}, timestamp = {2022-12-29T10:41:25.000+0100}, title = {{The concept of rod-driven locomotion for spherical lunar exploration robots}}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/iros2022_1.pdf}, year = 2022 }