Study and implementation of wheel walking for a Mars rover

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Mars is recently the most popular destination for planetary exploitation. A large extent of scientific research have shown that there was very likely water on this red planet, and even oceans might exist before. Although due to the extremely long distance and high mission budge, present and near future research projects are mostly based on unmanned mission, which normally relied on mobile rover robots with good off-road mobility. Mobility control system of the platform plays an important role of the mission. This thesis will first study the typical Mars environment, and review Mars missions. Then a review of different planetary mobile robot platform, which shows the wheel walking motion mode tends to be the optimal solution for an unknown tough terrain roving missions. Then a wheel-soil interaction analysis gives a theoretical prove for the locomotion improvement from this peristaltic motion mode. Then based on the Mars rover 'Marsokhod', it gives the description of the mechanical design and the implementation of the motion control system using a CANBus sy...