用六轮探测车实测力矩传感器在不同地形下的表现，验证其导航潜力。
Field Assessment of Force Torque Sensors for Planetary Rover Navigation
- 在六轮探测车上部署力矩传感器，采集各轮受力数据
- 发现力矩信号受地形影响大，但能反映牵引性能变化
- 适合做未来火星车传感器融合与控制算法研究
行星探测车的本体感知传感器用于状态估计及理解地形与行走性能。尽管惯性测量单元（IMUs）广泛应用，力矩传感器因能直接测量交互力，在行星导航中仍少被探索。本文基于一辆六轮探测车在不同地形、速度和坡度下的测试数据，评估了力矩传感器的性能与适用场景。讨论了信号可靠性与地形响应准确性等挑战，并识别出潜在应用机会。数据公开可得，包含六个车轮组件的力矩测量值及车体内部的IMU数据。本研究旨在为未来探测车设计与升级提供依据，尤其在传感器融合与控制算法方面，以提升导航能力。
原文摘要 · Abstract (English)
Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque sensors are less explored for planetary navigation despite their potential to directly measure interaction forces and provide insights into traction performance. This paper presents an evaluation of the performance and use cases of force-torque sensors based on data collected from a six-wheeled rover during tests over varying terrains, speeds, and slopes. We discuss challenges, such as sensor signal reliability and terrain response accuracy, and identify opportunities regarding the use of these sensors. The data is openly accessible and includes force-torque measurements from each of the six-wheel assemblies as well as IMU data from within the rover chassis. This paper aims to inform the design of future studies and rover upgrades, particularly in sensor integration and control algorithms, to improve navigation capabilities.
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