Abstract
The lander plays an important role in planetary exploration. However, most landers are immoveable and they can only detect at the same location. This paper proposes a novel recovery planning method for the legged mobile lunar lander. First, a legged mobile lunar lander with parallel mechanisms and its buffer structure are introduced. Then, the recovery planning method of the legged mobile lunar lander is addressed. Further, the footholds and body’s pose are optimized to improve the adaptability by minimizing the displacements of the active joints. Finally, simulations are conducted to validate the method and its performance. The results show that the recovery planning and optimization method for the legged mobile lunar lander are effective to rough terrains.
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This work was funded by the National Natural Science Foundation of China (No. 92248303).
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Xi, Q., Gao, F., Zhang, P., Yang, J., Chen, Z. (2023). Recovery Planning for the Legged Mobile Lunar Lander. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_50
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DOI: https://doi.org/10.1007/978-981-99-6495-6_50
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