Technology for coring from a low-mass rover has been developed to enable core sample acquisition where a planetary rover experiences moderate slip during the coring operation. A new stereo vision technique, Absolute Motion Visual Odometry, is used to measure rover slip during coring and the slip is accommodated through corresponding arm pose updating. Coring rate is controlled by feedback of the measured force of the coring tool against the environment. Test results in the JPL Marsyard show that coring from a low-mass rover with slip is feasible.


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    Titel :

    Results of Coring from a Low Mass Rover


    Beteiligte:
    Backes, Paul (Autor:in) / Helmick, Daniel (Autor:in) / Bajracharya, Max (Autor:in) / Khatib, Oussama (Autor:in) / Padois, Vincent (Autor:in) / Warren, James (Autor:in)


    Erscheinungsdatum :

    01.03.2008


    Format / Umfang :

    3887757 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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    Experimental results of rover-based coring and caching

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    Rover reconfiguration for body-mounted coring with slip

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    Rover Reconfiguration for Body-Mounted Coring with Slip

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