Articles | Volume 15, issue 1
Research article
05 Mar 2024
Research article |  | 05 Mar 2024

Design and obstacle-crossing analysis of a four-link rocker-suspension planetary exploration robot

Zhen Song, Zirong Luo, and Huixiang Xie

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Cited articles

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Arm, P., Zenkl, R., Barton, P., Beglinger, L., Dietsche, A., Ferrazzini, L., Hampp, E., Hinder, J., Huber, C., Schaufelberger, D., Schmitt, F., Sun, B., Stolze, B., Kolvenbach, H., and Hutter, M.: SpaceBok: A Dynamic Legged Robot for Space Exploration, in: 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20–24 May 2019, IEEE, 6288–6294,, 2019. 
Bartsch, S.: Development, Control, and Empirical Evaluation of the Six-Legged Robot SpaceClimber Designed for Extraterrestrial Crater Exploration, Künstliche Intelligenz, 28, 127–131,, 2014. 
Bartsch, S., Birnschein, T., Cordes, F., Kühn, D., Kampmann, P., Hilljegerdes, J., Planthaber, S., Römmermann, M., and Kirchner, F.: SpaceClimber: Development of a Six-Legged Climbing Robot for Space Exploration, in: ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), Munich, Germany, 7–9 June 2010, VDE, 1265–1272, 2010. 
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Short summary
There are still many meteorite craters and boulders on the surface of Mars and the Moon that cannot be accessed by existing planetary exploration robots. To solve this issue, this paper proposes a four-link rocker-suspension planetary exploration robot that has both the reliability and low complexity of wheeled rovers and competent terrain adaptability and obstacle-crossing performance.