Terrain-Adaptive Grouser Wheel for Optimal Planetary Exploration: Design and Experimental Investigation
Overview
This paper introduces GROVER, a wheel capable of continuously adjusting its grouser height to adapt to varying terrains. Across 950 trials on vinyl, coarse rock, pea gravel, and sand, the system reduced slip by 34.6%–58.0% in granular terrains and improved travel time and energy consumption by up to 77.4%.
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Event evidence and corrections
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Reported quantity · trials: 950 other · reported trials
“remain largely unexplored. Grousers are a compelling feature to actuate, as granular terrains tend to require increased grouser height for improved wheel performance. As a result, we introduce GROVER, a multimodal wheel capable of continuously adjusting its grouser height for terrain adaptation. Fixed-height performance was characterized on vinyl, coarse rock, pea gravel, and sand under two packing states. Across 950”
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Reported quantity · trials for instructed terrain transition: 20 other · reported trials
“slip configuration during motion, with slip decreasing by $44.0\pm4.7\%$ from the transient peak across 20 trials. Second, an online adaptation routine used closed-loop slip feedback alone to search the grouser-height range for a lower-slip configuration on four terrains with previously uncharacterized granularities: three field terrains and one laboratory regolith terrain. The controller selected different heights,”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalTerrain-Adaptive Grouser Wheel for Optimal Planetary Exploration: Design and Experimental Investigation
This paper introduces GROVER, a wheel capable of continuously adjusting its grouser height to adapt to varying terrains. Across 950 trials on vinyl, coarse rock, pea gravel, and sand, the system reduced slip by 34.6%–58.0% in granular terrains and improved travel time and energy consumption by up to 77.4%.
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