The DLR Terramechanics Robotics Locomotion Lab

Abstract

Locomotion on unstructured, sandy terrain poses a great danger to planetary rovers. To counteract these risks, a robust locomotion system is an important aspect in the development of a rover. Model-based simulations could help to accelerate the development process. However, a reliable test setup is required for the validation of these models. This paper introduces the Terramechanics Robotics Locomotion Lab, a robot-based testbed specifically designed for wheel terrain interaction analysis. The Terramechanics Robotics Locomotion Lab is a facility that uses the complementary experience in robotics and terramechanics to improve the capabilities of practical experiments in the field of vehicle movement on unstructured, sandy terrain