Full Content is available to subscribers

Subscribe/Learn More  >

Terramechanics Modeling of Mars Surface Exploration Rovers for Simulation and Parameter Estimation

[+] Author Affiliations
Karl Iagnemma, Carmine Senatore

Massachusetts Institute of Technology, Cambridge, MA

Brian Trease, Randel Lindemann

Caltech / JPL, Pasadena, CA

Raymond Arvidson, Keith Bennett, Amy Shaw, Feng Zhou, Lauren Van Dyke

Washington University, St. Louis, MO

Paper No. DETC2011-48770, pp. 805-812; 8 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5481-5
  • Copyright © 2011 by ASME


In 1997 and 2004, small wheeled robots (“rovers”) landed on the surface of Mars to conduct scientific experiments focused on understanding the planet’s climate history, surface geology, and potential for past or present life. Recently, the Mars Exploration Rover (MER) “Spirit” became deeply embedded in regolith at a site called Troy, ending its mission as a mobile science platform. The difficulty faced in navigating mobile robots over sloped, rocky, and deformable terrain has highlighted the importance of developing accurate simulation tools for use in a predictive mobility modeling capacity. These simulation tools require accurate knowledge of terrain model parameters. This paper describes a terramechanics-based tool for simulation of rover mobility. It also describes ongoing work toward estimation of terrain parameters of Mars soil.

Copyright © 2011 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In