ICIRA2021 Invited Speech Given by Prof. Haibo Gao

2021-05-12 12:43:00

The critical technology of design and mobile performance simulation verification for Mars rover composite locomotion system

Prof. Haibo Gao

August 8, 2021, Yantai

- Presentation Abstract

“Mars exploration” is a National Science and Technology Major Project while Mars rover is the essential equipment during the project, and the locomotion system is the most critical part. The team is responsible for the development of the Mars rover locomotion subsystem. In addition, Tianwen-1 has been successfully launched on July 23, 2020.

To overcome the problem that the United States Mars rover may slip on loose terrain or lack large traction force, a system is invented with active-passive composite locomotion. Besides wheel driving function as the Rocky-Bogie suspension, the locomotion system also has some special capabilities for better passability, such as creeping motion, lifting or lowering carriage, and raising wheels. To solve the problem that there is no theoretical basis for the creeping rover to break away from sinking and to climb slopes in the sand with low granularity and low viscosity, a Robot Motion Control Strategy is proposed based on the inching locomotion. The wheel-terrain interaction models of the driving wheel, disengagement wheel, and brake wheel under inching locomotion conditions are established, and the creeping control parameters are determined to disengage from sinking and to climb slopes as well. Aiming at the problem of high-accuracy rover locomotion performance evaluated in rough terrain, it is used to simulate conditions on Earth that a simulation verification method for the whole planetary vehicle is proposed. A theoretical model is established to calculate the equivalent conversion between gravity field and suspension cable force, which is a general principle. Moreover, the control technique of six-degree of freedom posture tracking is invented based on suspension mechanism, and the simulation verification system is developed for whole rover motion performance.

- Bio Sketch

Dr. Haibo Gao is the Distinguished Professor of Cheung-Kong Scholar of the Ministry of Education, Leading Talents in Science and Technology of National Ten Thousand Talents Program of the Organization Department of the Central Committee of the CPC. He is also the Dean of the school of mechatronics engineer of HIT and the vice director of the State Key Laboratory of Robotics and System. Dr. Gao’s research interests are the mobility technology for the wheeled planetary rover, the burden-legged mobility technology for field environment, the suspended micro-low gravity environment simulation technology for aerospace mechanism.

He is also the director of a series of important scientific projects, such as Key project of the intelligent robot of Ministry of science and technology, the Key National Natural Science Foundation of China, the “973 Program” of the national defense, Major national science and technology project, the “863 Program” of the national defense, the pre-research for the Equipment of the national defense, the pre-research for China Manned Space Program, the innovation special zone project of the Science and technology commission of the CMC,  and the science project for the civil aerospace technology and so on.

Dr. Gao with high attainment in aerospace science and technology. Successively obtained the second prize of National Technical Invention one time (rank 2) and the first prize of provincial Technical Invention five times (successively ranked 1,1, 2, 5, and 7)