Spherical planetary robot for rugged terrain traversal

Laksh Raura, Andrew Warren, Jekan Thangavelautham

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2017 IEEE Aerospace Conference
PublisherIEEE Computer Society
ISBN (Electronic)9781509016136
DOIs
StatePublished - Jun 7 2017
Externally publishedYes
Event2017 IEEE Aerospace Conference, AERO 2017 - Big Sky, United States
Duration: Mar 4 2017Mar 11 2017

Publication series

NameIEEE Aerospace Conference Proceedings
ISSN (Print)1095-323X

Other

Other2017 IEEE Aerospace Conference, AERO 2017
Country/TerritoryUnited States
CityBig Sky
Period3/4/173/11/17

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science

Fingerprint

Dive into the research topics of 'Spherical planetary robot for rugged terrain traversal'. Together they form a unique fingerprint.

Cite this