Conceptual design and architecture of hexapod robotic vehicles for the (L)OVLA project

Details Conceptual design and architecture of hexapod robotic vehicles for the (L)OVLA project Conceptual design and architecture of hexapod robotic vehicles for the (L)OVLA project

Jan 1993

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..369k&link_type=abstract

In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 369-375 (SEE N94-23373 06-91)

Computer Science

Robotics

Control Systems Design, Lunar Based Equipment, Mobility, Robotics, Very Large Array (Vla), Astronomical Interferometry, Design Analysis, Robots

Scientific paper

The current status of the design of the vehicle part of the Lunar Optical Very Large Array (LOVLA), which is to carry out optical interferometric astronomy on the Moon, is presented. Legs were chosen to deal with the LOVLA's mobility requirements. A frequent argument against legged solutions is the complexity of actuation and control. The problem of controlling the robot exhibits a wide mathematical indetermination. The gait concept, which provides neat and efficient means to reduce indermination, is described. The multilevel control architecture proposed is also described.

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