Tip-or rollover protection mechanisms for planetary rovers enabling exploration of high-risk sites

Historically and currently planetary surface exploration missions conducted with rovers are confined to regions that are safe to traverse in order to fulfill the primary mission goals. This mentality/approach has paid off as far as mission longevity is concerned. However, this approach may have also prevented the discovery of exciting science in hard to get to or risky terrain. This paper describes and studies protection mechanisms based on tip-or rollover safeguards with cross-stabilizing beams/struts for ground-based vehicles (i.e., planetary rovers) that either prevent tip-or rollover situations from happening, or in case they do occur, lead to a benign outcome, i.e., the ground-based vehicle 'lands' right-side up for continuing operation. This is especially useful/necessary for autonomously operating and/or tele-commanded vehicles, e.g., on planetary surfaces or in remote areas.