Mathematics – Logic
Scientific paper
Sep 2006
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2006dps....38.4513c&link_type=abstract
American Astronomical Society, DPS meeting #38, #45.13; Bulletin of the American Astronomical Society, Vol. 38, p.569
Mathematics
Logic
Scientific paper
Addressable, reconfigurable rover architectures capable of real time transformation in size, shape, and gait will be essential for accessing those `hard to reach’ places where evidence for activity, geological or biological, might be hiding on planetary surfaces. We have designed and field tested simple tetrahedral rovers and are about to finish our third generation prototype, a human-sized 12tetrahedral rover capable of rolling, crawling, and climbing gaits. Our first prototype (1tet) walked a steep, slaggy slope at meteor crater. The performance of the new prototype will be evaluated in a variety of field environments using metrics which will allow comparison to wheeled rover performance in analogous terrains. Extreme mobililty is based on the capability for rapid reconfiguation of addressable struts interconnected at nodes (forming the space-filling tetrahedra) combined with rapid and low bandwidth position determination, communication and navigation/maneuvering systems. These latter capabilities are already under development elsewhere. We are designing a payload node which will allow lightweight sensors to remain upright for operation. Power generation requiring peak power for locomotion will be via a tetrahedrally deployable solar cell/rechargeable battery system. A variety of electrostatic dust control methods are being investigated. Basic gaits, developed for prevailing terrain conditions, are adjustable with movement across terrain approaching `real time’ for a human explorer.`Falling’ (except over a cliff) is not possible. Such a rover provides complimentary capabilities to a wheeled rover, which has the most efficient locomotion on terrain relatively smooth and flat on the scale of the wheels, and is thus capable of acting as an equipment base. The tetrahedral rover, acting as a scout, could provide reconnaissance, surveying, in situ sensing/sampling, and monitoring on what would be `slippery slopes’ for wheels.
Brown Garfield
Cheug C. Y.
Clark Pamela E.
Curtis Steven Andrew
Dorband J.
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