Research on Conrol, Dynamics, and Development of a Multi-regged Planetary Rover of Isotropic Shape

这项研究涉及一个适合探索低重力行星的漫游车。该探测器具有由正多面体中心体和可展开腿组成的几何各向同性形状。本研究取得的主要成果如下：1.正十二面体/二十面体形状的探测器可以通过逐渐展开腿来实现静态运动。然而，考虑到火星车的尺寸，腿的部署长度非常长。因此，通过腿的快速展开产生的冲击力的动态运动对于正多面体形状的漫游器是非常有效的。典型的仿真结果表明，探测车可以在大于静态爬坡极限的斜坡上爬坡.针对动态运动中的每种姿态模式，推导出了探测器的运动控制方程和接触腿对行星表面冲击力的估算关系.在微重力环境下，对跳跃式月球车进行动力学仿真时，张力主动控制是一种有效的方法。控制系统应具有张力误差的积分补偿功能.对于地形的数字高程图的生成，结合模板匹配技术的从阴影恢复形状算法得到了较好的估计结果.提出了一种新的基于Hapke模型的反射率模型，使阴影恢复形状算法适用于多摄像机图像。

This research deals with a rover suited for exploration of a planet with low gravity. The rover has geometrically isotropic shape composed of a regular polyhedron center body and deployable legs. The results obtained in this research are follows.1. A regular dodecahedron / icosahedron shaped rover can achieve static motion by expanding the legs gradually. The length of deployment for the leg, however, is extremely long considering the size of the rover. Therefore, dynamic movement by impulsive force generated by quick deployment of the leg is extremely effective for a regular polyhedron shaped rover. A typical simulation result shows that a rover can climb a slope whose angle is larger than the climbing limitation for the static motion.2. Both the governing equations of motion of the rover and relations to estimate impact force of a touching leg to the planet surface are derived for each pattern of orientation shown in dynamic movement.3. For simulation of dynamic motion for a hopping rover in micro-gravity experiment on earth, active control system of tension force suspending a rover model is effective. And the control system should have integral compensation for tension error.4. For development of digital elevation map for a terrain, Shape from Shading algorithm combined with template matching technique results better estimation.5. New reflectance model based on Hapke model is proposed to be applicable the Shape from Shading algorithm to multiple camera images.