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Kinematic structure for robust mechanical architectures in robotic planetary exploration

By John D. Hobbs and Joe Rooney


This paper describes new research into the kinematic structure of autonomous robotic systems, and into the associated design processes. The approach aims to develop novel insights and applicable tools and techniques for designing advanced mechanical architectures for planetary exploration systems. These should provide enhanced functionality for tackling complex autonomous operations, and improved levels of robustness in the face of the inevitable system faults

Publisher: Cranfield University Press
Year: 2002
OAI identifier:
Provided by: Open Research Online

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