{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/9611"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/9611","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Analysis and traction control of a rocker-bogie planetary rover","abstract":"Robotic rovers have become important tools in planetary exploration. Future missions require improved rover performance. This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rocker­bogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is detailed. It considers realistic physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and mobility. Analytical and experimental studies are performed to validate the analysis and control scheme.","abstract_html":"Robotic rovers have become important tools in planetary exploration. Future missions require improved rover performance. This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rocker­bogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is detailed. It considers realistic physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and mobility. Analytical and experimental studies are performed to validate the analysis and control scheme.","abstract_has_math":false,"creators":["Hacot, Hervé, 1974-"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering","school":null,"contributors":[],"advisors":["Steven Dubowsky."],"committee_chairs":[],"committee_members":[],"year":1998,"date_issued":"1998","date_published":"1998","updated_at":"2026-07-22T22:20:48Z","subjects":["Mechanical Engineering"],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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