Crawling Locomotion Enabled by a Novel Actuated Rover Chassis
Arthur Bouton,Yang Gao,Arthur Bouton,Yang Gao
Traversing soft soils represents a major concern of planetary rover missions. In this paper, we present a new chassis mechanism capable of a crawling gait that enhances trafficability on soft soil while relying on as few actuators as possible. Articulated by two actuated joints, MARCEL is a four-wheeled rover chassis which name stands for Mobile Active Rover Chassis for Enhanced Locomotion. MARCEL...
