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Citation link: http://nbn-resolving.de/urn:nbn:de:gbv:46-00103022-11
00103022-1.pdf
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Development, Control, and Empirical Evaluation of the Six-Legged Robot SpaceClimber Designed for Extraterrestrial Crater Exploration


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Other Titles: Entwicklung, Kontrolle und Empirische Evaluierung des Sechbeinigen Roboters SpaceClimber, Konzipiert für Extraterrestrische Krater-Exploration
Authors: Bartsch, Sebastian 
Supervisor: Kirchner, Frank
1. Expert: Kirchner, Frank
2. Expert: Hertzberg, Joachim 
Abstract: 
In the recent past, mobile robots played an important role in the field of extraterrestrial surface exploration. Unfortunately, the currently available space exploration rovers do not provide the necessary mobility to reach scientifically interesting places in rough and steep terrain like boulder fields and craters. Multi-legged robots have proven to be a good solution to provide high mobility in unstructured environments. However, space missions place high demands on the system design, control, and performance which are hard to fulfill with such kinematically complex systems. This thesis focuses on the development, control, and evaluation of a six-legged robot for the purpose of lunar crater exploration considering the requirements arising from the envisaged mission scenario. The performance of the developed system is evaluated and optimized based on empirical data acquired in significant and reproducible experiments performed in a laboratory environment in order to show thecapability of the system to perform such a task and to provide a basis for the comparability with other mobile robotic solutions.
Keywords: Legged Robot, System Design, Control, Mobility, Performance Evaluation, Space Robotic
Issue Date: 20-Feb-2013
Type: Dissertation
URN: urn:nbn:de:gbv:46-00103022-11
Institution: Universität Bremen 
Faculty: FB3 Mathematik/Informatik 
Appears in Collections:Dissertationen

  

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