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Kinematic Modelling and State Estimation of Exploration Rovers
(2019-04)
[Abstract]
State estimation is crucial for exploration rovers. It provides the pose and velocity of the rover by processing measurements from onboard sensors. Classical wheel odometry only employs encoder measurements of ...
Energy-Leak Monitoring and Correction to Enhance Stability in the Co-simulation of Mechanical Systems
(2019-01)
[Abstract]
Non-iterative co-simulation is an increasingly important technique for the simulation of
complex mechanical systems. Adopting co-simulation schemes enables the simultaneous use of computational resources and ...
Model-based coupling for co-simulation of robotic contact tasks
(IEEE, 2020-10)
[Abstract]
Co-simulation of complex robotic systems allows the different components to be modelled and simulated independently using methods and tools tailored to their nature and time-scale, which makes the implementation ...
Load assessment and analysis of impacts in multibody systems
(2016-09)
[Abstract] The evaluation of contact forces during an impact requires the use of continuous force based methods. An accurate prediction of the impact force demands the identification of the contact parameters on a case-by-case ...
Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
(2016-06)
[Abstract]
Many applications of wheeled robots include operations in unstructured environments. Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit the ability of the robot to achieve ...
Performance indicators for wheeled robots traversing obstacles
(2020-04)
[Abstract] An important element of wheeled robot operations on uneven and unstructured terrain is the ability to overcome obstacles. In this letter, we deal with a part of this obstacle negotiation problem. We particularly ...
Use of performance indicators in the analysis of running gait impacts
(2018)
[Summary]
Foot-ground impact is a critical event during the running cycle. In this work, three performance indicators were used to characterize foot-ground impact intensity: the effective preimpact kinetic energy, ...
Effect of gravity in wheel/terrain interaction models
(2020)
[Abstract] Predicting the motion of wheeled robots in unstructured environments is an important and challenging problem. The study of planetary exploration rovers on soft terrain introduces the additional need to consider ...
A novel concept for analysis and performance evaluation of wheeled rovers
(Elsevier, 2015-01)
[Abstract] - The analysis, design, and operation planning of rovers are often based on predictive dynamic simulation, where the multibody model of the vehicle is combined with terramechanics relations for the representation ...
Use of Penalty Formulations in Dynamic Simulation and Analysis of Redundantly Constrained Multibody Systems
(Springer, 2013)
[Abstract]
The determination of particular reaction forces in the analysis of redundantly constrained multibody systems requires the consideration of the stiffness distribution in the system. This can be achieved by ...