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

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.