Publication
Sherpa in TransTerrA: SherpaTT
Florian Cordes
DFKI GmbH, DFKI Documents (D), Vol. 14-05, ISBN ISSN 0946-0098, Selbstverlag, 7/2014.
Abstract
The presentation focuses on the hybrid walking-driving rover Sherpa and its successor SherpaTT. Sherpa(TT) has an active suspension system to actively conform to irregular terrain. The mechanical design of the first version is discussed, its benefits and drawbacks are highlighted. The derived design improvements are presented. The talk concludes with the first steps in setting up a new motion control system for SherpaTT, that were conducted in DFKI’s MARS simulation environment.