Terramechanics-Based Mobility Failure Compensation and Soil Manipulation

In this article, we enable new mobility and manipulation modes for wheeled planetary exploration rovers through the use of terramechanics modeling and field experiments. Useful modes of wheel-based soil manipulation and examples of rovers driving with degraded mobility systems are first demonstrated...

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Bibliographic Details
Published in:IEEE transactions on field robotics 2026, Vol.3, p.59-82
Main Authors: Pavlov, Catherine A., Rogg, Arno, Johnson, Aaron M.
Format: Article
Language:English
Subjects:
Actuators
Failure detection and recovery
Field robots
Hardware
Moon
motion control
NASA
Robots
Rocks
Soil
space robotics
Space vehicles
terramechanics
wheeled robots
Wheels
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