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Fully Automated Single Wheel Testing with the DLR Terramechanics Robotics Locomotion Lab (TROLL)

Buse, Fabian (2019) Fully Automated Single Wheel Testing with the DLR Terramechanics Robotics Locomotion Lab (TROLL). In: Proceedings of 15th Symposium on Advanced Space Technologies in Robotics and Automation. 15th Symposium on Advanced Space Technologies in Robotics and Automation, 27.-27. May 2019, Noordwijk, Netherlands.

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Abstract

Robust locomotion on rough and sandy terrain is critical to the success of rover-based missions. The analysis, simulation and prediction of the locomotion performance of a wheel-based system are challenges that require numerical models validated by measurements. The Terramechanics Robotics Locomotion Lab (TROLL) is a robot-based facility designed to provide robust and reliable test data for both validation of numerical simulations and evaluation of physical prototypes. The paper gives an overview of the system design and its capabilities, describing the current setup as well as the procedures used. Finally, the performance will be discussed on the basis of a sample measurement campaign.

Item URL in elib:https://elib.dlr.de/128404/
Document Type:Conference or Workshop Item (Speech)
Title:Fully Automated Single Wheel Testing with the DLR Terramechanics Robotics Locomotion Lab (TROLL)
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Buse, FabianFabian.Buse (at) dlr.deUNSPECIFIED
Date:27 May 2019
Journal or Publication Title:Proceedings of 15th Symposium on Advanced Space Technologies in Robotics and Automation
Refereed publication:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Terramechanics, Planetary Robotics, Mobility Performance,Wheel Performance Testing
Event Title:15th Symposium on Advanced Space Technologies in Robotics and Automation
Event Location:Noordwijk, Netherlands
Event Type:international Conference
Event Dates:27.-27. May 2019
Organizer:ESA-ESTEC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Buse, Fabian
Deposited On:12 Jul 2019 10:46
Last Modified:12 Jul 2019 10:46

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