惑星探査ローバのナビゲーションにおける力覚センサの実地評価
Field Assessment of Force Torque Sensors for Planetary Rover Navigation
六輪ローバの走行試験データを用いて、力覚センサが惑星探査ナビゲーションで果たす性能と用途を評価し、課題と可能性を示した。
著者: Levin Gerdes, Carlos Pérez del Pulgar, Raúl Castilla Arquillo, Martin Azkarate
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque sensors are less explored for planetary navigation despite their potential to directly measure interaction forces and provide insights into traction performance. This paper presents an evaluation of the performance and use cases of force-torque sensors based on data collected from a six-wheeled rover during tests over varying terrains, speeds, and slopes. We discuss challenges, such as sensor signal reliability and terrain response accuracy, and identify opportunities regarding the use of these sensors. The data is openly accessible and includes force-torque measurements from each of the six-wheel assemblies as well as IMU data from within the rover chassis. This paper aims to inform the design of future studies and rover upgrades, particularly in sensor integration and control algorithms, to improve navigation capabilities.
