Wheeled planetary rovers such as the Mars Exploration Rovers (MERs) and Mars Science Laboratory (MSL) have provided unprecedented, detailed images of the Mars surface. However, these rovers are large and are of high-cost as they need to carry sophisticated instruments and science laboratories. We propose the development of low-cost planetary rovers that are the size and shape of cantaloupes and that can be deployed from a larger rover. The rover named SphereX is 2 kg in mass, is spherical, holonomic and contains a hopping mechanism to jump over rugged terrain. A small low-cost rover complements a larger rover, particularly to traverse rugged terrain or roll down a canyon, cliff or crater to obtain images and science data. While it may be a one-way journey for these small robots, they could be used tactically to obtain high-reward science data. The robot is equipped with a pair of stereo cameras to perform visual navigation and has room for a science payload. In this paper, we analyze the design and development of a laboratory prototype. The results show a promising pathway towards development of a field system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Spherical planetary robot for rugged terrain traversal


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2017-03-01


    Format / Umfang :

    675975 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    RUGGED TERRAIN VEHICLE DESIGN AND ROUTE OPTIMIZATION

    PARENTI ROBERT / NEUBECKER CYNTHIA / SIDDIQUI ADIL NIZAM | Europäisches Patentamt | 2022

    Freier Zugriff

    Rugged terrain vehicle design and route optimization

    PARENTI ROBERT / NEUBECKER CYNTHIA / SIDDIQUI ADIL NIZAM | Europäisches Patentamt | 2023

    Freier Zugriff

    Rugged Walking Robot

    Larimer, Stanley J. / Lisec, Thomas R. / Spiessbach, Andrew J. | NTRS | 1990


    Highly passable propulsive device for UGVs on rugged terrain

    Gradetsky Valery / Ermolov Ivan / Knyazkov Maxim et al. | DOAJ | 2018

    Freier Zugriff