CESAR: A lunar crater exploration and sample return robot

Schwendner, Jakob; Grimminger, Felix; Bartsch, Sebastian; Kaupisch, Thilo; Yüksel, Mehmed; Bresser, Andreas; Akpo, J.; Seydel, Michael K.-G.; Dieterle, Alexander; Schmidt, Steffen; Kirchner, Frank

doi:10.1109/iros.2009.5354353

Cited by 15 publications

(9 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…4 NASA JPL, http://marsprogram.jpl.nasa.gov/msl/. the Lunar Robotic Challenge (LRC) hosted by the European Space Agency (ESA) [27]. The objective of the LRC was to send a robotic device into a crater at the Teide Volcano on Tenerife to find and pick up 100 g of colored sand.…”

Section: Introductionmentioning

confidence: 99%

LUNARES: lunar crater exploration with heterogeneous multi robot systems

Cordes

Ahrns²,

Bartsch

et al. 2010

Intel Serv Robotics

Self Cite

View full text Add to dashboard Cite

The LUNARES (Lunar Crater Exploration Scenario) project emulates the retrieval of a scientific sample from within a permanently shadowed lunar crater by means of a heterogeneous robotic system. For the accomplished earth demonstration scenario, the Shakelton crater at the lunar south pole is taken as reference. In the areas of permanent darkness within this crater, samples of scientific interest are expected. For accomplishment of such kind of mission, an approach of a heterogeneous robotic team consisting of a wheeled rover, a legged scout as well as a robotic arm mounted on the landing unit was chosen. All robots act as a team to reach the mission goal. To prove the feasibility of the chosen approach, an artificial lunar crater environment has been established to test and demonstrate the capabilities of the robotic systems. Figure 1 depicts the systems in the artificial crater environment. For LUNARES, preexisting robots were used and modified were needed in order to integrate all subsystems into a common system control. A ground control station has been developed considering conditions of a real mission, requiring information of autonomous task execution and remote controlled operations to be displayed for human operators. The project successfully finished at the end of 2009. This paper reviews the achievements and lessons learned during the project.

show abstract

Section: Introductionmentioning

confidence: 99%

LUNARES: lunar crater exploration with heterogeneous multi robot systems

Cordes

Ahrns²,

Bartsch

et al. 2010

Intel Serv Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…(b) The Symmetric Rubber Foot (SRF) [21], which counts with flat 'heel' and 'tip' sections of equal dimensions. (c) The Camel Inspired Foot (CIF) [28], which is provided with a large concave 'tip' and a smaller convex 'heel'. This set of designs covers a range of foot lengths and widths, which have a direct impact on force distribution, as well as curvatures, which have been also shown to affect terradynamic forces [11], for both the foot tip and heel sections.…”

Section: A Generalized Terradynamics For Multi-legged Wheel-legsmentioning

confidence: 99%

Models for Slip Estimation and Soft Terrain Characterization With Multilegged Wheel–Legs

Comin

Saaj

2017

IEEE Trans. Robot.

View full text Add to dashboard Cite

Abstract-Successful operation of off-road mobile robots faces the challenge of mobility hazards posed by soft, deformable terrain, e.g. sand traps. The slip caused by these hazards has a significant impact on tractive efficiency, leading to complete immobilization in extreme circumstances. This paper addresses the interaction between dry frictional soil and the multi-legged wheelleg concept, with the aim of exploiting its enhanced mobility for safe, in-situ terrain sensing. The influence of multiple legs and different foot designs on wheel-leg-soil interaction is analyzed by incorporating these aspects to an existing terradynamics model. In addition, new theoretical models are proposed and experimentally validated to relate wheel-leg slip to both motor torque and stick-slip vibrations. These models, capable of estimating wheelleg slip from purely proprioceptive sensors, are then applied in combination with detected wheel-leg sinkage to successfully characterize the load bearing and shear strength properties of different types of deformable soil. The main contribution of this paper enables non-geometric hazard detection based on detected wheel-leg slip and sinkage.

show abstract

“…The concepts and technologies developed within the scope of off-road robotics can be applied in many different fields, including the agricultural [81,103], construction [89], and forestry [10,39] sectors as well as space exploration [49,88,93], search and rescue operations [70], humanitarian demining [8], and the military domain [23,44,90,107].…”

Section: Applicationsmentioning

confidence: 99%