Computer Science – Robotics
Scientific paper
Jan 1999
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1999heds.conf..165.&link_type=abstract
Second Annual HEDS-UP Forum, p. 165
Computer Science
Robotics
Automatic Control, Remote Control, Robotics, Teleoperators, Design Analysis, Manipulators, Mars Exploration, Planetary Geology, Astronauts, Degrees Of Freedom, Extravehicular Activity, Field Tests, Geology, Life Support Systems, Lunar Exploration, Nasa Programs
Scientific paper
Lunar exploration, recent field tests, and even on-orbit operations suggest the need for a robotic assistant for an astronaut during extravehicular activity (EVA) tasks. The focus of this paper is the design of a 300-kg, 2 cubic meter, semi-autonomous robotic rover to assist astronauts during Mars surface exploration. General uses of this rover include remote teleoperated control, local EVA astronaut control, and autonomous control. Rover size, speed, sample capacity, scientific payload and dexterous fidelity were based on known Martian environmental parameters,- established National Aeronautics and Space Administration (NASA) standards, the NASA Mars Exploration Reference Mission, and lessons learned from lunar and on-orbit sorties. An assumed protocol of a geological, two astronaut EVA performed during daylight hours with a maximum duration of tour hour dictated the following design requirements: (1) autonomously follow the EVA team over astronaut traversable Martian terrain for four hours; (2) retrieve, catalog, and carry 12 kg of samples; (3) carry tools and minimal in-field scientific equipment; (4) provide contingency life support; (5) compile and store a detailed map of surrounding terrain and estimate current position with respect to base camp; (6) provide supplemental communications systems; and (7) carry and support the use of a 7 degree - of- freedom dexterous manipulator.
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