A New Paradigm for Robotic Rovers
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- 作者：P.E. Clark ; ; ; pamela.clark@gsfc.nasa.gov ; S.A. Curtis ; M.L. Rilee
- 关键词：Robotics ; Rovers ; Extreme Mobility ; Space Exploration
- 刊名：Physics Procedia
- 出版年：2011
- 出版时间：2011
- 年：2011
- 卷：20
- 期：Complete
- 页码：308-318
- 全文大小：766 K
文摘
We are in the process of developing rovers with extreme mobility needed to explore remote, rugged terrain. We call these systems Tetrahedral Explorer Technologies (TETs). Architecture is based on conformable tetrahedra, the simplest space¨Cfilling form, as building blocks, single or networked, where apices act as nodes from which struts reversibly deploy. The tetrahedral framework acts as a simple skeletal muscular structure. We have already prototyped a simple robotic walker from a single reconfigurable tetrahedron capable of tumbling and a more evolved 12Tetrahedral Walker, the Autonomous Landed Investigator (ALI), which has interior nodes for payload, more continuous motion, and is commandable through a user friendly interface. ALI is an EMS level mission concept which would allow autonomous in situ exploration of the lunar poles within the next decade. ALI would consist of one or more 12tetrahedral walkers capable of rapid locomotion with the many degrees of freedom and equipped for navigation in the unilluminated, inaccessible and thus largely unexplored rugged terrains where lunar resources are likely to be found: the Polar Regions. ALI walkers would act as roving reconnaissance teams for unexplored regions, analyzing samples along the way.