An Active Suspension System for a Planetary Rover
نویسندگان
چکیده
This paper reviews the design of the hybrid wheeled-leg rover Sherpa. Focus is set on the mechanical design of the suspension system that is constituted by four independently controllable legs with a wheel mounted at each leg. Achievements and drawbacks of the current design are outlined and lead together with the new application range to a revised design of the suspension. The new design and its modular actuation components are presented in this paper.
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