@InProceedings{2006ACTI611,
  author    = {Grand, C. and Jarrassé, N. and Bidaud, Ph.},
  title     = {Design of an innovative unfoldable wheel with contact surface adaptation mechanism for planetary rovers},
  booktitle = {Proceedings of ASTRA'06 : 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation},
  year      = {2006},
  address   = {Noordwijk, The Netherlands},
  abstract  = {In this paper, an original expandable mechanism for unfolding wheels is proposed. This mechanism combines two elementary mechanisms. One allows the deployment of the rim while the other one ensuring the contact shape adaptation. In a first section, we analyse the different deployment mechanisms already proposed in the literature. Then, the design of the rim expansion mechanism is described and two complementary version are proposed. Last, based on terramechanics model, a contact surface adaptation mechanism is proposed. This system allows to adapt the wheel-ground interaction properties and make the wheel ables to improve its traction and steering performance on soft soil.},
  category  = {ACTIS},
  file      = {:http\://www.isir.upmc.fr/files/2006ACTI611.pdf:URL},
}