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- W2014255709 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. My dissertation 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 the capability of the system to perform such a task and to provide a basis for the comparability with other mobile robotic solutions." @default.
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- W2014255709 date "2014-05-16" @default.
- W2014255709 modified "2023-10-16" @default.
- W2014255709 title "Development, Control, and Empirical Evaluation of the Six-Legged Robot SpaceClimber Designed for Extraterrestrial Crater Exploration" @default.
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- W2014255709 doi "https://doi.org/10.1007/s13218-014-0299-y" @default.
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